  In this paper, we consider a self-triggered formulation of model predictive
control. In this variant, the controller decides at the current sampling
instant itself when the next sample should be taken and the optimization
problem be solved anew. We incorporate a pointwise-in-time resource constraint
into the optimization problem, whose exact form can be chosen by the user.
Thereby, the proposed scheme is made resource-aware with respect to a universal
resource, which may pertain in practice for instance to communication,
computation, energy or financial resources. We show that by virtue of the
pointwise-in-time constraints, also a transient and an asymptotic average
constraint on the resource usage are guaranteed. Furthermore, we derive
conditions on the resource under which the proposed scheme achieves recursive
feasibility and convergence. Finally, we demonstrate our theoretical results in
a numerical example.
