Self-triggered control for constrained systems: A contractive set-based approach

Kazumune Hashimoto, Shuichi Adachi, Dimos V. Dimarogonas

Abstract: In this paper, a self-triggered control scheme for constrained discrete-time control systems is presented. The key idea of our approach is to construct a transition system or a graph structure from a collection of polyhedral sets, which are generated based on the notion of set-invariance theory. The inter-event time steps are then determined through a standard graph search algorithm to obtain the minimal total cost to a terminal state. The proposed strategy is illustrated through a numerical example.