An Error Quasi Quadratic Differential Based Event-triggered MPC for Continuous Perturbed Nonlinear Systems

A new event-triggered model predictive control (ET-MPC) algorithm is proposed for continuous perturbed nonlinear systems with constraints for the purpose of reducing computing burden and communication transmission. In the first step, an original event triggering condition is constructed based on the slope variation of the state error between the optimal prediction and the real state, i.e., the quasi quadratic differential (QQD) type event-triggered mechanism. Secondly, the dual-mode control has been adopted to deal with the constrained nonlinear systems subject to disturbances, based on which the execution process of the proposed QQD based ET-MPC is described. In addition, the feasibility of the algorithm and closed-loop stability of the system have been strictly proved in theory. Lastly, two simulation examples are utilized to verify the effectiveness and applicability of the proposed algorithm.