System stability and safety for stochastic intermittent model predictive control
The stability and safety of stochastic nonlinear affine systems are studied by using intermittent event-triggered model predictive control.A combined approach using an unconstrained control Lyapunov function and a control barrier function is employed to construct the control Lyapunov-barrier function.By setting the opening and closing conditions of the controller,an intermittent event-triggered controller is constructed,which can simultaneously consider the stability and safety of the system.The results show that the intermittent mechanism in model predictive control can effectively improve system performance.The effectiveness of the proposedintermittent event-triggered model predictive control theory is demonstrated through a case study of a wheeled robot retrieval system.
国家科技期刊平台
NSTL
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