Robust model predictive control for polytopic uncertain systems with state saturation nonlinearities under Round-Robin protocol

摘要

This paper is concerned with the robust model predictive control (RMPC) problem for polytopic uncertain systems with state saturation nonlinearities under the Round-Robin (RR) protocol. With respect to the practical application, one of the most commonly encountered obstacles that stem from the physical limitation of system components, ie, state saturation, is adequately taken into consideration. In order to reduce the network transmission burden and improve the utilization of the network from the controller nodes to the actuator node, a so-called RR protocol is employed to orchestrate the data transmission order. At each transmission instant, only one controller node that obtains the priority is accessible to the shared communication network. Our aim of the underlying problem is to design a set of controllers in the framework of RMPC such that the closed-loop system is asymptotically stable. By taking the influence of the RR protocol and the state saturation precisely into account, some sufficient criteria are established in terms of the token-dependent Lyapunov-like approach. Then, an online optimization problem subjected to some matrix inequality constraints is provided, and the desired controllers can be obtained by solving the certain upper bound of the objective addressed. Finally, a distillation process example is provided to illustrate the effectiveness of the proposed RMPC approach.