Integral-based Event-triggered Model Predictive Control for Perturbed Nonlinear Systems under Two-channel Transmissions

This paper investigates the event-triggered model predictive control problem for a nonlinear continuous-time plant subject to constraints and bounded disturbances. An absolute triggering condition is employed in the sensor node to reduce the transmission rates and an integral-based one is introduced into the controller node to save the computational resources. In order to ensure that the system states still fulfill the constraint in the presence of disturbances and aperiodic transmissions, a tightened constraint on the predicted state is designed. In addition, a dual-mode control strategy which is combined with the event-triggered mechanisms is utilized. By constructing a feasible control sequence, the sufficient conditions are derived to guarantee the feasibility and stability of the closed-loop system. Finally, a simulation example is provided to show the feasibility and effectiveness of the proposed strategy.