LQ-based event-triggered controller co-design for saturated linear systems

Alexandre Seuret (1) , Christophe Prieur (2) , Sophie Tarbouriech (1) , Luca Zaccarian (1, 3)

1 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
2 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
3 Dipartimento di Ingegneria Industriale [Trento]

This paper deals with the simultaneous design of a state feedback law and an event-triggering condition ensuring local exponential stability and LQ performance in the presence of plant input saturation and of a communication channel between the controller output and the saturated plant input. To this aim, we adopt Lyapunov-based techniques in a hybrid framework. The design of the event-triggered control is based on two conditions: one to solve the event-triggered control co-design for LQ stabilization; the second one to adjust the co-design among all possible solutions of the first condition thanks to a tunable parameter. The proposed Lyapunov formulation yields an event-triggered algorithm to update the saturated plant input based on conditions involving the closed-loop state, while an estimate of the domain of attraction is provided. Furthermore, a trade- off is highlighted relating the optimality level, the size of the estimate of the basin of attraction and the reduction of the amount of transmissions.

Domaines: Automatique / Robotique

Alexandre Seuret, Christophe Prieur, Sophie Tarbouriech, Luca Zaccarian. LQ-based event-triggered controller co-design for saturated linear systems. Automatica, 2016, 74, pp.47-54. ⟨10.1016/j.automatica.2016.07.004⟩. ⟨hal-01344252⟩