Simple Lyapunov Sampling for Event-Driven Control

Sylvain Durand (1) , Nicolas Marchand (2) , Jose Fermi Guerrero Castellanos (3)

1 NECS - Networked Controlled Systems
2 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
3 FCE BUAP - Facultad de Ciencias de la Electrónica [Puebla]

In this paper, a simple Lyapunov sampling is proposed. Contrary to a periodic fashion which samples the system uniformly in time, an event-based scheme updates the control signal only when the system trajectory sufficiently changes. Furthermore, the present triggering mechanism is based on a Lyapunov function in order to enforce the events only when required from a stability point of view. Nevertheless, whereas the Lyapunov sampling mechanism initially introduced in Velasco et al. (2009) requires to execute a computationally heavy off-line algorithm, a fully on-line version is developed in this paper. The different approaches are tested (in simulation and practice) to show the efficiency of such an event-based control and, eventually, the performance remains ensured even if the constraint on the stability is relaxed.

Domaines: Automatique / Robotique

Sylvain Durand, Nicolas Marchand, Jose Fermi Guerrero Castellanos. Simple Lyapunov Sampling for Event-Driven Control. IFAC WC 2011 - 18th IFAC World Congress, Aug 2011, Milan, Italy. 7 p. ⟨hal-00568102v2⟩