Robust event-triggered control of nonlinear systems (Q2214010)

The monograph covers state-of-the-art results in robust event-triggered control of nonlinear systems. It organized into three parts. The book consists of Foreword, Preface, Contents, Notations and Abbreviation, Parts I (Chaps.1--2), Part II (Chaps.3--5), Part III (Chaps. 6--7), Appendices A, B, C and D, References and Index. Part I is an introduction to robust stability and small-gain tools for system synthesis as a survey of necessary preliminaries to read smoothly the book. Part II deals with robust event triggers. Chap. 3 is focused on a small-gain approach to event-triggered control of nonlinear systems. An event-triggered control system is considered as an interconnection of two parts, i.e. the controlled system and the event trigger. Gains are used to characterize the interaction between the two parts. Chap. 4 is an extension of the small-gain-based event-trigger design to nonlinear uncertain systems with partial state or output feedback. The chapter proposes a new class of dynamic event triggers to address this issue. An application of the dynamic event triggers to decentralized event-triggered control is also presented. This chapter focuses only on the systems without external disturbances. Chap. 5 considers solving the event-triggered control problem for the nonlinear systems subject to both dynamic uncertainties and external disturbances. An estimation of the influence of the external disturbances is introduced to the event trigger which together with the measured system state determines the threshold signal. It is shown the new event trigger guarantees the avoidance of infinitely fast sampling and the closed-loop event-triggered system is input-to-state stable. Part III is devoted to constructive designs for event-triggered control. In particular, it is shown in Chap. 6, how input-to-state stabilizing control laws are constructed for uncertain nonlinear systems in the strict-feedback (lower-triangular) structure. Both classes of event-triggered state feedback control and event-triggered output feedback control are considered. This chapter deals also with a class of event-triggered control design of nonlinear time-delay systems. It is verified that the proposed control laws fulfill the requirement for event-triggered control. Chap. 7 studies the event-triggered control problem for nonholonomic systems in the ``perturbed chained form'' with disturbances and drift uncertain nonlinearities. Both the cases of state-feedback and output-feedback are investigated. To address the effects of nonholonomic constraints in event-triggered control, a new systematic design integrating a state-scaling technique and set-valued maps is proposed. A crucial strategy is to transform the event-triggered control system into an interconnection of multiple input-to-state stable systems, to which the cyclic-small-gain theorem is applied for event-based controller synthesis. It is shown that the cyclic-small-gain based design scheme leads to Zeno-free event-triggered controllers. For the output-feedback case, a new nonlinear observer is designed to deal with the sampling errors. Note that the obtained results are new even if the plant model is disturbance-free. Both numerical and experimental results validate the efficiency of the proposed cyclic-small-gain-based event-triggered control methodology. Appendices include notions, technical lemmas, gain assignment technique, and proofs. The monograph presents a study on the novel concept of ``robust event-triggered control of nonlinear systems subject to disturbances'', discussing the theory which is supplied with numerous numerical examples and practical applications. The book a valuable resource for researchers, engineers and graduate students in automation engineering who wish to learn the theories, technologies, and applications of event-triggered control of nonlinear systems.