2020/04/03 by Stefan Wildhagen, Frank Allgöwer, Wildhagen, Stefan +1
Computer Science · Engineering · #Advanced Control Systems Optimization #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Petri Nets in System Modeling #Stability and Control of Uncertain Systems #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2004.01605
openalex publication_date 2020/04/03 · openalex created_date 2022/07/26 · openalex updated_date 2026/07/28
Rollout control is an MPC-based control method, in which a controller is\nperiodically activated to schedule the transmission of sensor or actuator data.\nTherein, a preassigned traffic specification acts as a constraint on the\nscheduled transmissions, ensuring that they are triggered at an admissible rate\nfor the underlying communication network. In this paper, we extend the theory\nof rollout control by considering bounded disturbances on the controlled plant\nin the presence of state and input constraints. We use methods from tube MPC,\nwhere the error between the nominal (undisturbed) system, used as a prediction\nmodel, and the real system is kept in a robust control invariant set. This\napproach requires satisfaction of a \maximum inter-transmission interval\nin closed loop, a guarantee that is not straightforward to obtain in rollout\ncontrol. Our main contribution is to introduce a novel tube MPC scheme adapted\nfor rollout control, which contains an additional constraint on the predicted\ntransmission schedule. We show that by virtue of this schedule constraint, the\ninter-transmission interval is bounded in closed loop. We also establish\nrecursive feasibility of this novel MPC scheme and show convergence of the\nsystem.\n