On Event-Triggered Adaptive Architectures for Decentralized and Distributed Control of Large-Scale Modular Systems

Abstract

The last decade has witnessed an increased interest in physical systems controlled over wireless networks (networked control systems). These systems allow the computation of control signals via processors that are not attached to the physical systems, and the feedback loops are closed over wireless networks. The contribution of this paper is to design and analyze event-triggered decentralized and distributed adaptive control architectures for uncertain networked large-scale modular systems; that is, systems consist of physically-interconnected modules controlled over wireless networks. Specifically, the proposed adaptive architectures guarantee overall system stability while reducing wireless network utilization and achieving a given system performance in the presence of system uncertainties that can result from modeling and degraded modes of operation of the modules and their interconnections between each other. In addition to the theoretical findings including rigorous system stability and the boundedness analysis of the closed-loop dynamical system, as well as the characterization of the effect of user-defined event-triggering thresholds and the design parameters of the proposed adaptive architectures on the overall system performance, an illustrative numerical example is further provided to demonstrate the efficacy of the proposed decentralized and distributed control approaches.

Event-triggered neural network control of autonomous surface vehicles over wireless network

“…Let r i m ∈ (s i , s i+1 ) be the mth time instant whenR 2 is satisfied over (s i , s i+1 ) similarly to [27]. Because…”

“…Unlike the above control methods, an aperiodic control technique called event-triggered control is presented in recent years [25][26][27][28][29][30][31][32]. The sampling and controlling of the systems only occur when the predefined events are true in event-triggered controls, such that the two-way data transmissions can be reduced.…”

“…To reduce the network traffic, several event-triggered control approaches have been developed in [25][26][27][28][29][30][31][32]. In [25,27], event-triggered adaptive control methods were introduced to schedule data exchange dependent upon errors exceeding user-defined thresholds to reduce wireless network utilization. In [26], an approximation-based event-triggered control method was proposed for multi-input multi-output uncertain nonlinear continuous-time systems in affine form.…”

Design of Event-Triggered Fault-Tolerant Control for Stochastic Systems with Time-Delays

“…In the last decade, event-triggered control has become a hot research topic and significant contributions have been made [ 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 , 22 , 23 , 24 , 25 , 26 ]. The event-triggered data sampling strategies based on send-on-delta have been investigated in [ 19 , 20 ].…”

“…Recent discussions of event-triggered control for stochastic systems could be found in [ 21 , 22 ]. Literature [ 23 , 24 ] studied the event-triggered strategy of uncertain systems, and some of them are applicable to nonlinear systems. In addition, the event-triggered strategy for transmission time-delayed systems was studied in literature [ 25 , 26 ].…”