Research Article
Self-Triggered Model Predictive Control for Perturbed Underwater Robot Systems
| (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. |
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