Lu, LiangLimón Marruedo, DanielKolmanovsky, Ilya2024-01-212024-01-212022-08Lu, L., Limón, D. y Kolmanovsky, I. (2022). Self-triggered MPC with performance guarantee for tracking piecewise constant reference signals. Automatica, 142, 110364. https://doi.org/10.1016/j.automatica.2022.110364.0005-1098https://hdl.handle.net/11441/153689This paper considers a self-triggered MPC controller design strategy for tracking piecewise constant reference signals. The proposed triggering scheme is based on the relaxed dynamic programming inequality and the idea of reference governor; such a scheme computes both the updated control action and the next triggering time. The resulting self-triggered tracking MPC control law preserves stability and constraint satisfaction and also satisfies certain a priori chosen performance requirements without the need to impose stabilizing terminal conditions. An illustrative example shows the effectiveness of this self-triggered tracking MPC implementation.application/pdf8 p.engAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Self-triggered controlTracking model predictive controlReference governorRelaxed dynamic programminginfo:eu-repo/semantics/articleinfo:eu-repo/semantics/openAccesshttps://doi.org/10.1016/j.automatica.2022.110364