  This paper considers the control of uncertain systems that are operated under
limited resource factors, such as battery life or hardware longevity. We
consider here resource-aware self-triggered control techniques that schedule
system operation non-uniformly in time in order to balance performance against
resource consumption.
  When running in an uncertain environment, unknown disturbances may
deteriorate system performance by acting adversarially against the planned
event triggering schedule. In this work, we propose a resource-aware stochastic
predictive control scheme to tackle this challenge, where a novel zero-order
hold feedback control scheme is proposed to accommodate a time-inhomogeneous
predictive control update.
