Event-triggered control of quasi-LPV systems with communication delays
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Universidade Federal de Minas Gerais
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This paper addresses the dynamic periodic event-triggered control for local stabilization of nonlinear networked control systems with communication delays. Based on a polytopic quasi-linear parameter-varying (quasi-LPV) model of the nonlinear plant and the Lyapunov–Krasovskii stability theory, a local stability analysis condition is established. Then a constructive co-design condition is proposed to jointly design the state-feedback control law and the trigger rule. The local asymptotic stability of the closed-loop equilibrium point of interest is ensured with a guaranteed region of attraction where trajectories remain inside even in the presence of communication delays. An optimization procedure is proposed to perform the co-design considering the objectives of enlarging the guaranteed region of attraction and reducing the number of transmissions. Numerical examples indicate a trade-off between these two objectives. Also, the examples illustrate the effectiveness of the proposed dynamic event-triggered control co-design approach over both its static counterpart and periodic time-triggering mechanisms.
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Event-triggered control (ETC) is an effective strategy to manage communication resources in networked control systems (NCS). ETC schemes are characterized by driving transmissions taking into account information of endogenous signals of the plant, such as state or output measurements, instead of purely time specifications. The ETC schemes are generally categorized as continuous ETC (CETC), where the state is continuously monitored by the event-triggering mechanism (ETM); CETC with time-regularization, where a waiting-time is enforced to ensure exclusion of Zeno behavior (one of the main issues in CETC strategies); and periodic ETC (PETC), where the state is monitored by the ETM only at specific instants. Although CETC schemes provide significant improvements compared with standard time-triggered approaches, this kind of strategy is not suitable for implementation in digital platforms since continuous state measurement is required, being PETC schemes more appropriate in this context.
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https://onlinelibrary.wiley.com/doi/full/10.1002/rnc.6304