Lyapunov event-triggered control: a new event strategy based on the control

Nicolas Marchand (1) , John Jairo Martinez Molina (2) , Sylvain Durand (3) , Fermi Guerrero-Castellanos (4)

1 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
2 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse
3 LAFMIA - Laboratoire Franco-Mexicain d'Informatique et d'Automatique
4 FCE BUAP - Facultad de Ciencias de la Electrónica [Puebla]

Event-triggered control is a sampling strategy that updates the control value only when some events occur. An event is usually generated by an event-function that indicates if the control signal must be updated or not. If one excepts self-triggered implementation, event-triggered control requires the evaluation of the event function at each time instant. Unfortunately, in the literature of nonlinear system event-based control, computing the event function is more resource consuming than computing the control itself. Moreover, it requires the knowledge of a Lyapunov function that is not necessarily available. The purpose of this paper is to propose for affine nonlinear systems a new strategy for the choice of the event function that only requires the computation of the control. This reduces the complexity of computing the event and avoids to know the Lyapunov function.

Domaines: Automatique / Robotique

Nicolas Marchand, John Jairo Martinez Molina, Sylvain Durand, Fermi Guerrero-Castellanos. Lyapunov event-triggered control: a new event strategy based on the control. NOLCOS 2013 - 9th IFAC Symposium on Nonlinear Control Systems, Sep 2013, Toulouse, France. ⟨10.3182/20130904-3-FR-2041.00129⟩. ⟨hal-00828391⟩