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Asynchronous Networked MPC With ISM for Uncertain Nonlinear Systems

机译：不确定非线性系统中带ISM的异步网络MPC

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摘要

A model-based event-triggered control scheme for nonlinear constrained continuous-time uncertain systems in networked configuration is presented in this paper. It is based on the combined use of model-predictive control (MPC) and integral sliding-mode (ISM) control, and it is oriented to reduce the packet transmission over the network both in the direct path and in the feedback path, in order to avoid network congestion. The key elements of the proposed control scheme are the ISM local control law, the MPC remote controller, a smart sensor, and a smart actuator, both containing a copy of the nominal model of the plant. The role of the ISM control law is to compensate matched uncertainties, without amplifying the unmatched ones. The MPC controller with tightened constraints generates the control component oriented to comply with state and control requirements and is asynchronous since the underlying constrained optimization problem is solved only when a triggering event occurs. In the paper, the robustness properties of the controlled system are theoretically analyzed, proving the regional input-to-state practical stability of the overall control scheme.
机译：提出了一种基于模型的网络约束非线性受限连续时间不确定系统的事件触发控制方案。它基于模型预测控制（MPC）和积分滑模（ISM）控制的组合使用，旨在减少网络中直接路径和反馈路径中的数据包传输，从而按顺序避免网络拥塞。提议的控制方案的关键要素是ISM本地控制法，MPC遥控器，智能传感器和智能执行器，两者均包含工厂标称模型的副本。 ISM控制法的作用是补偿匹配的不确定性，而不放大未匹配的不确定性。具有严格约束的MPC控制器会生成定向为符合状态和控制要求的控制组件，并且该组件是异步的，因为仅在发生触发事件时才解决基本的约束优化问题。本文从理论上分析了受控系统的鲁棒性，证明了总体控制方案的区域输入状态实用稳定性。

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