Event-triggered robust economic MPC of constrained nonlinear systems with bounded disturbances

Abstract

This paper addresses the robustness and computational burden issues of economic model predictive control (MPC) for constrained nonlinear systems subject to unknown but bounded disturbances. A novel event-triggered robust economic MPC strategy is proposed for the uncertain systems within a min–max optimization framework. The controller is determined by online solving the receding horizon economic min–max optimal control problem subject to the contractive constraint of robust control objective function. Then the event-triggering mechanism on the constraint is designed to reduce the computational burden of solving the min–max optimization problem. Furthermore, sufficient conditions are established to guarantee the recursive feasibility and input-to-state stability of the robust economic MPC with respect to the disturbance. Finally, the effectiveness of the proposed strategy is validated through comparison simulations on a continuously stirred tank reactor.