An Adaptive-Sampling Control Framework for Constrained Linear Systems with Robust Safety Guarantees
TL;DR
This paper proposes an adaptive-sampling control framework for linear systems subject to polytopic state and input constraints and bounded additive disturbances that continuously calculates Model Predictive Control update rates that ensure robust constraint satisfaction at all time steps.
Abstract
Adaptive-sampling control balances control performance with resource efficiency. However, existing methods either fail to guarantee robust constraint satisfaction during rate transitions or require computationally expensive online optimization. This paper proposes an adaptive-sampling control framework for linear systems subject to polytopic state and input constraints and bounded additive disturbances. Given a time-varying reference control update rate provided by a reasoner, our framework continuously calculates Model Predictive Control (MPC) update rates that ensure robust constraint satisfaction at all time steps. Offline, robust M-step hold control invariance is used to precompute invariant sets for a list of update rates and transition sets between them. Online, these sets are used in real time to guarantee recursive feasibility and finite-time transitions to the reference update rate. The utility of the architecture is demonstrated in a cruise control simulation.