Self-triggered sampling selection based on quadratic programming

Abstract

This paper proposes a model-based control strategy for networked control systems subject to norm bounded disturbances. The communication channel is supposed to be shared with several processes and, therefore, the access to the network needs to be minimized to avoid collisions and packet losses. We propose to use a variable sample rate scheme in which the controller operates in open-loop between successive state measurements. The sampling time is decided on-line solving a sequence of quadratic optimization problems in order to minimize the access to the common network while guaranteeing closed-loop practical stability. Both discrete and continuous time schemes are considered.