Performance-Barrier-Based Event-Triggered Control with Applications to Network Systems

TL;DR

This paper introduces a resource-efficient event-triggered control framework that ensures prescribed system performance, reduces controller updates, and is applicable to network systems like vehicle platoons.

Contribution

It presents a novel performance-barrier-based triggering method that allows flexible update timing based on system performance residuals, enhancing efficiency and applicability.

Findings

Reduces number of controller updates in vehicle platooning.

Ensures prescribed performance with fewer triggers.

Provides Zeno-free distributed trigger design for networks.

Abstract

This paper proposes a novel framework for resource-aware control design termed performance-barrier-based triggering. Given a feedback policy, along with a Lyapunov function certificate that guarantees its correctness, we examine the problem of designing its digital implementation through event-triggered control while ensuring a prescribed performance is met and triggers occur as sparingly as possible. Our methodology takes into account the performance residual, i.e., how well the system is doing in regards to the prescribed performance. Inspired by the notion of control barrier function, the trigger design allows the certificate to deviate from monotonically decreasing, with leeway specified as an increasing function of the performance residual, resulting in greater flexibility in prescribing update times. We study different types of performance specifications, with particular attention to quantifying the benefits of the proposed approach in the exponential case. We build on this to design intrinsically Zeno-free distributed triggers for network systems. A comparison of event-triggered approaches in a vehicle platooning problem shows how the proposed design meets the prescribed performance with a significantly lower number of controller updates.