Event-Triggered Observers and Observer-Based Controllers for a Class of Nonlinear Systems

TL;DR

This paper develops event-triggered observers and controllers for nonlinear systems with network constraints, ensuring asymptotic stability with partial state knowledge, demonstrated on a flexible link robot.

Contribution

It introduces a novel event-triggered framework for observer-based stabilization of nonlinear systems under network limitations, utilizing ISS properties.

Findings

Guarantees asymptotic convergence of observer and system states.

Provides necessary conditions for triggering mechanism design.

Validates approach on a flexible link robot example.

Abstract

In this paper, we investigate the stabilization of a nonlinear plant subject to network constraints, under the assumption of partial knowledge of the plant state. The event triggered paradigm is used for the observation and the control of the system. Necessary conditions, making use of the ISS property, are given to guarantee the existence of a triggering mechanism, leading to asymptotic convergence of the observer and system states. The proposed triggering mechanism is illustrated in the stabilization of a robot with a flexible link robot.