近期，实验室博士生胡仲瑞作为第一作者，导师吴立刚教授作为通讯作者的论文“Polytopic Event-Triggered Robust Model Predictive Control for Constrained Linear Systems”已被国际权威期刊IEEE Transactions on Circuits and Systems I: Regular Papers录用。

该论文针对具有状态与输入约束的线性系统，提出了基于显式模型预测控制的多面体事件触发鲁棒控制策略。在事件触发机制的设计中采用了收缩式多面体的结构，并给出了其收缩时对应的事件触发条件。同时，该触发机制构造了终端多面体以避免类芝诺(Zeno-like)现象的出现。所提出的事件触发鲁棒控制策略满足系统状态和控制输入的约束，并保证了闭环系统的鲁棒稳定性。与已有相关成果相比，本文的触发机制需要在线更新的多面体参数更少，并且相邻事件的触发间隔不受预测时域的限制。

Abstract

This paper studies the event-triggered robust model predictive control (MPC) problem for constrained linear systems subject to bounded disturbances. For control computations, explicit MPC reduces online optimizations to simple function evaluations, thus is suitable for resource constrained systems. We propose an event-triggering mechanism (ETM) for an explicit robust model predictive controller such that function evaluations are not needed at every time instant and the ETM itself requires comparably less online computations. In the proposed ETM, we design a contracting polytopic trigger set with respect to system constraints and the explicit robust control law. The resulting event-triggered control scheme ensures robust constraint satisfac- tion and robust stability for the closed-loop system while avoiding the Zeno-like behavior. Simulation results illustrate the validity of the event-triggered robust control scheme.