Self-Triggered Model Predictive Control with Delay Compensation for Networked Control Systems

Koichi KOBAYASHI  Kunihiko HIRAISHI  

Publication
IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E96-A    No.5    pp.861-868
Publication Date: 2013/05/01
Online ISSN: 1745-1337
DOI: 10.1587/transfun.E96.A.861
Print ISSN: 0916-8508
Type of Manuscript: Special Section PAPER (Special Section on Networked Control Systems: Theories & Applications)
Category: 
Keyword: 
delay compensation,  model predictive control,  networked control systems,  self-triggered control,  

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Summary: 
Self-triggered control is a control method that the control input and the sampling period are computed simultaneously in sampled-data control systems, and is studied in the field of networked control systems. In this paper, a new approach for self-triggered control is proposed based on the model predictive control (MPC) method. First, self-triggered MPC with delay compensation in which the delay-compensation input is introduced is newly formulated. Next, in order to efficiently solve this MPC problem, the optimal control problem with horizon one is formulated, and an approximate solution method is derived. Finally, the effectiveness of the proposed approach is shown by a numerical example.