Safe Adaptive-Sampling Control via Robust M-Step Hold Model Predictive Control
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866918486651961344 |
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| author | Schutz, Spencer Vallon, Charlott Borrelli, Francesco |
| author_facet | Schutz, Spencer Vallon, Charlott Borrelli, Francesco |
| contents | In adaptive-sampling control, the control frequency can be adjusted during task execution. Ensuring that these changes do not jeopardize the safety of the system being controlled requires attention. We introduce robust M-step hold model predictive control (MPC) to address this. Our formulation provides robust constraint satisfaction for an uncertain discrete-time system model with a fixed sampling time subject to an adaptable multi-step input hold (referred to as M-step hold). We show how to ensure recursive feasibility of the MPC utilizing M-step hold extensions of robust invariant sets, and demonstrate how to enable safe adaptive-sampling control via the online selection of M. We evaluate the utility of the robust M-step hold MPC formulation in a cruise control example. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_27374 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Safe Adaptive-Sampling Control via Robust M-Step Hold Model Predictive Control Schutz, Spencer Vallon, Charlott Borrelli, Francesco Systems and Control In adaptive-sampling control, the control frequency can be adjusted during task execution. Ensuring that these changes do not jeopardize the safety of the system being controlled requires attention. We introduce robust M-step hold model predictive control (MPC) to address this. Our formulation provides robust constraint satisfaction for an uncertain discrete-time system model with a fixed sampling time subject to an adaptable multi-step input hold (referred to as M-step hold). We show how to ensure recursive feasibility of the MPC utilizing M-step hold extensions of robust invariant sets, and demonstrate how to enable safe adaptive-sampling control via the online selection of M. We evaluate the utility of the robust M-step hold MPC formulation in a cruise control example. |
| title | Safe Adaptive-Sampling Control via Robust M-Step Hold Model Predictive Control |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.27374 |