A Terminal Constraint Set-Dependent Mixed Time/Event-Triggered Approach to Multistep Fuzzy MPC

In this article, the problem of multistep model predictive control (MPC) under a mixed time/event-triggered mechanism (MTEM) is investigated for fuzzy systems with hard constraints. To improve its flexibility in adjusting releases, this MTEM incorporates the information from the fuzzy membership functions and the terminal constraint set (TCS). In the online control unit, the time-triggered way is first implemented to steer the system state into the TCS quickly, and then in the offline control unit, the involved event-triggered pattern plays its role in conserving resources while ensuring the control performance. Two offline optimization problems (OPs) are presented to design the TCS and the approximate robust one step sets, respectively, and an online OP is given to design the control laws to steer the system state into TCS. Based on these three OPs, we propose an MTEM-based multistep fuzzy MPC algorithm and demonstrate the feasibility of the algorithm together with the input-to-state stability of the closed-loop system. Three examples are given to verify the effectiveness of the proposed method and its superiority in saving communication and computing resources while ensuring control performance.