Design of Event-Triggered State-Constrained Stabilizing Controllers for Nonlinear Control Systems

Abstract

This paper addresses the event-triggered stabilization problem for nonlinear control-affine systems under state constraints. First, a strong control Lyapunov barrier function (CLBF) method is applied for constructing continuous state-constrained stabilizing controllers. Additionally, sufficient conditions for the existence of strong CLBFs are derived. With the obtained state-constrained feedback laws, a new eventtriggered policy is proposed for reducing the number of communication events without the input-to-state stability (ISS) assumption. It is proved that the Zeno behavior is excluded under this event-triggered policy, that is, the inter-execution times are lower bounded away from zero. Finally, two examples are included to illustrate the theoretical results. INDEX TERMS Control Lyapunov functions, Control Lyapunov barrier functions, event-triggered, State constraint, State feedback, Nonlinear systems.

Observer‐based non‐fragile event‐triggered control of extra‐corporeal blood circulation process in finite‐time interval

“…11 In this technique, sensor measurement is only communicated when the previously transmitted value and the value of a specific function of the current sensor reach a threshold value. 20 The event detector considers the following conditions while deciding whether or not to transmit the current signal to the controller:…”

“…An event-triggered control scheme has been intensively studied as an alternative to time-triggered schemes, since it has been shown to be an efficient technique to decrease communication burden and improve transmission efficiency. 11,20,21 As of now, the theoretical analysis results on event-triggered schemes have many potential applications in practice. 12,17,[21][22][23] Recently, an observer-based event-triggered control scheme for nonlinear systems with mixed delays has been addressed in Reference 5.…”

“…In order to tackle this issue, we propose an event‐triggered control scheme for the extracorporeal blood circulation model which is an interesting area and worthy to study ECC process in‐depth. An event‐triggered control scheme has been intensively studied as an alternative to time‐triggered schemes, since it has been shown to be an efficient technique to decrease communication burden and improve transmission efficiency 11,20,21 . As of now, the theoretical analysis results on event‐triggered schemes have many potential applications in practice 12,17,21‐23 .…”

Design of Robust Dynamic Output Feedback Event-Triggering Controllers for Nonlinear Uncertain Systems

“…Event-triggered control (ETC) has been proposed to overcome this issue, as in [10], [11]. The ETC systems prevent excessive use of the communication by adapting transmissions to the current signal so that the network is only used when it is necessary, see [12]- [14]. An adaptive event-triggered fault-tolerant tracking control problem was investigated for a class of MIMO uncertain nonlinear systems with unknown nonlinearities and actuator faults in [15].…”

“…One challenge in designing an ETC is combining the triggering condition with the feedback control law. Many existing event-triggering strategies have been developed using the emulation approach, see [14], [19], [20]. In this approach, the feedback law is first synthesized to stabilize the plant without any network communication.…”