Event-based model predictive control for nonlinear systems with dynamic disturbance

In this paper, we investigate the event-based model predictive control (MPC) for constrained nonlinear systems with dynamic disturbance. An event-triggered disturbance prediction MPC (DPMPC) scheme and a self-triggered counterpart, which explicitly consider the disturbance dynamics, are proposed. For the event-triggered DPMPC scheme, the triggering condition relying on the state prediction error and the predicted disturbance sequence, updates at each time step based on the system states. For the self-triggered DPMPC scheme, the next triggering instant is determined by using the optimal state sequence and predicted disturbance sequence. In both event-based schemes, the optimal control problems are solved only at triggering instants, thus reducing the consumption of computational resource. The effectiveness of the two schemes is demonstrated by a simulation example.