Digital self-triggered robust control of nonlinear systems
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Abstract: In this paper we develop novel results on self triggering control of nonlinear systems, subject to perturbations and actuation delays. First, considering an unperturbed nonlinear system with bounded actuation delays, we provide conditions that guarantee the existence of a self triggering control strategy stabilizing the closed--loop system. Then, considering parameter uncertainties, disturbances, and bounded actuation delays, we provide conditions guaranteeing the existence of a self triggering strategy, that keeps the state arbitrarily close to the equilibrium point. In both cases, we provide a methodology for the computation of the next execution time. We show on an example the relevant benefits obtained with this approach, in terms of energy consumption, with respect to control algorithms based on a constant sampling, with a sensible reduction of the average sampling time.
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Cites work
- Event-Triggered Real-Time Scheduling of Stabilizing Control Tasks
- Exploiting Isochrony in Self-Triggered Control
- Networked Control Systems With Communication Constraints: Tradeoffs Between Transmission Intervals, Delays and Performance
- To Sample or not to Sample: Self-Triggered Control for Nonlinear Systems
Cited in
(12)- Time- and event-driven communication process for networked control systems: a survey
- A simple self-triggered sampler for perturbed nonlinear systems
- Self-triggered impulsive control of nonlinear time delay systems: application to chemotherapeutic dose-regimen design
- Recent advances on filtering and control for cyber-physical systems under security and resource constraints
- On Self-triggered Full-Information H-Infinity Controllers
- Recent developments on the stability of systems with aperiodic sampling: an overview
- An ISS self-triggered implementation of linear controllers
- Safe Self-Triggered Control Based on Precomputed Reachability Sequences
- Robust dynamic self-triggered control for nonlinear systems using hybrid Lyapunov functions
- Sufficient conditions for robust safety in differential inclusions using barrier functions
- Current trends and future directions in event-based control
- A converse robust-safety theorem for differential inclusions
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