Digital Self Triggered Robust Control of Nonlinear Systems

TL;DR

This paper introduces a novel self-triggered control approach for nonlinear systems that accounts for perturbations and delays, improving energy efficiency and stability compared to constant sampling methods.

Contribution

It develops new conditions and a methodology for self-triggered control of nonlinear systems with delays and uncertainties, enhancing stability and energy efficiency.

Findings

Reduces average sampling time significantly.

Ensures stability under delays and perturbations.

Improves energy consumption over constant sampling methods.

Abstract

In this paper we develop novel results on self triggering control of nonlinear systems, subject to perturbations and actuation delays. First, considering an unperturbed nonlinear system with bounded actuation delays, we provide conditions that guarantee the existence of a self triggering control strategy stabilizing the closed--loop system. Then, considering parameter uncertainties, disturbances, and bounded actuation delays, we provide conditions guaranteeing the existence of a self triggering strategy, that keeps the state arbitrarily close to the equilibrium point. In both cases, we provide a methodology for the computation of the next execution time. We show on an example the relevant benefits obtained with this approach, in terms of energy consumption, with respect to control algorithms based on a constant sampling, with a sensible reduction of the average sampling time.