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Periodic event-triggered observation and control for nonlinear Lipschitz systems using impulsive observers

Etienne Lucien 1 Stefano Di Gennaro 2 Jean-Pierre Barbot 1, 3
1 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : In this paper, we investigate the observation and stabilization problems for a class of nonlinear Lipschitz systems, subject to network constraints, and partial state knowledge. In order to address these problems, an impulsive observer is designed, making use of the event-triggered technique in order to diminish the network communications. Sufficient conditions are given to ensure a milder version of the separation principle for these systems, controlled via an event-triggered controller. The proposed observer ensures practical state estimation, while the corresponding dynamic controller ensures practical stabilization. The sampling and the data transmission are carried out asynchronously. The dynamic controller is tested in simulation on a flexible joint.
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https://hal.archives-ouvertes.fr/hal-01561527
Contributor : Jean-Pierre Barbot <>
Submitted on : Wednesday, July 12, 2017 - 9:52:18 PM
Last modification on : Wednesday, April 28, 2021 - 11:17:18 PM

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Etienne Lucien, Stefano Di Gennaro, Jean-Pierre Barbot. Periodic event-triggered observation and control for nonlinear Lipschitz systems using impulsive observers. International Journal of Robust and Nonlinear Control, Wiley, 2017, ⟨10.1002/rnc.3802⟩. ⟨hal-01561527⟩

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