A quasi‐differential type event‐triggered model predictive control for perturbed continuous linear systems with constraints

A quasi‐differential type event‐triggered model predictive control (ET‐MPC) framework for continuous‐time linear systems with additional disturbances is constructed. Different from the existing ET‐MPC, the triggering condition of the proposed method is focused on the differences of the errors between the actual states and the best prediction sequence at two consecutive sampling moments. Its advantage is that the dynamic characteristics of state changes can be better considered, which will achieve a more effective balance between communication load and system control performance. Then, to deal with persistent disturbances, a time‐varying tightening robustness state constraint is utilized in this scheme, instead of conventional state constraints. Finally, the new ET‐MPC algorithm is designed based on the dual‐mode control framework, and its feasibility, the system closed‐loop stability, as well as avoidance of Zeno behaviour are rigorously verified. Simulations and comparisons are provided to demonstrate the algorithm effectiveness.