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arXiv · 2603.27374

Safe Adaptive-Sampling Control via Robust M-Step Hold Model Predictive Control

Spencer Schutz·Charlott Vallon·Francesco Borrelli
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Abstract

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.

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Spencer Schutz, Charlott Vallon, Francesco Borrelli. 2026-03-28. Safe Adaptive-Sampling Control via Robust M-Step Hold Model Predictive Control. https://arxiv.org/abs/2603.27374

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