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Rollout approaches are an effective tool to address the problem ofco-designing the transmission schedule and the corresponding input values, whenthe controller is connected to the plant via a resource-constrainedcommunication network. These approaches typically employ an MPC, activated atmultiples of the period length of a base transmission schedule. Usingmulti-step invariant terminal regions and a prediction horizon longer than thebase period, stability can be ensured. This strategy, however, suffers fromintrinsic shortcomings, such as a high computational complexity and lowrobustness. We aim to resolve these drawbacks by proposing an MPC withperiodically time-varying terminal region and cost for the rollout setup, wherethe controller is activated at each time instant and features an arbitrary butfixed prediction horizon. We consider in more detail two specific setups fromthe literature on Networked Control Systems, namely the token bucket networkand actuator scheduling. For both setups, we provide conditions for whichconvergence under application of the time-varying MPC can be guaranteed. In twonumerical examples, we demonstrate the benefits of the proposed method.

Scheduling and control over networks using MPC with time-varying terminal ingredients: extended version