  Rollout control is an MPC-based control method, in which a controller is
periodically activated to schedule the transmission of sensor or actuator data.
Therein, a preassigned traffic specification acts as a constraint on the
scheduled transmissions, ensuring that they are triggered at an admissible rate
for the underlying communication network. In this paper, we extend the theory
of rollout control by considering bounded disturbances on the controlled plant
in the presence of state and input constraints. We use methods from tube MPC,
where the error between the nominal (undisturbed) system, used as a prediction
model, and the real system is kept in a robust control invariant set. This
approach requires satisfaction of a \emph{maximum} inter-transmission interval
in closed loop, a guarantee that is not straightforward to obtain in rollout
control. Our main contribution is to introduce a novel tube MPC scheme adapted
for rollout control, which contains an additional constraint on the predicted
transmission schedule. We show that by virtue of this schedule constraint, the
inter-transmission interval is bounded in closed loop. We also establish
recursive feasibility of this novel MPC scheme and show convergence of the
system.
