Abstract
This paper is concerned with the stochastic model predictive control problem (SMPC) for a class of networked control systems with exogenous disturbances and restrictions on communication frequency. A self-triggered SMPC algorithm with an improved triggering condition is designed which integrates the co-design of both the current control inputs and the maximum sampling interval, with the aim of reducing the amounts of communication transmission while guaranteeing the specific performance. To give consideration to both probabilistic guarantee and computability, chance constraints on both states and inputs are transformed into deterministic ones by leveraging Cantelli's inequality and linearisation techniques, so as to be solvable for the optimisation problem. Meanwhile, the nonconvex terms in dynamics of covariance propagation are averted through introducing the covariance upper bound control approach. The formulated online optimisation problem is convex to all decision variables. The theoretical analysis on recursive feasibility and closed-loop stability is addressed for the proposed self-triggered SMPC scheme. Finally, the efficacy and achievable performance of the proposed algorithm are showcased through numerical simulations.
Published Version
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