Event-Triggered and Self-Triggered Control for Networked Control Systems Using Online Optimization

摘要

Event-triggered and self-triggered control methods are an important control strategy in networked control systems. Event-triggered control is a method that the measured signal is sent to the controller (i.e., the control input is recomputed) only when a certain condition is satisfied. Self-triggered control is a method that the control input and the (non-uniform) sampling interval are computed simultaneously. In this paper, we propose new methods of event-triggered control and self-triggered control from the viewpoint of online optimization (i.e., model predictive control). In self-triggered control, the control input and the sampling interval are obtained by solving a pair of a quadratic programming (QP) problem and a mixed integer linear programming (MILP) problem. In event-triggered control, whether the control input is updated or not is determined by solving two QP problems. The effectiveness of the proposed methods is presented by numerical examples.