Self-Triggered Model Predictive Control for Perturbed Underwater Robot Systems

Algorithm 1

Self-triggered MPC.

(1) whiledo
(2)	Solve optimization problem;
(3) while is not triggered do
(4) Apply the input ;
(5) end while
(6) Compute the next triggering time ;
(7) ;
(8) end while
(9) Apply the state feedback control law.