Dynamic self-triggered control for nonlinear systems with delays

TL;DR

This paper extends dynamic self-triggered control strategies to nonlinear networked control systems with transmission delays, ensuring stability and efficiency in practical scenarios with communication delays.

Contribution

It introduces a novel dynamic STC method for nonlinear systems with delays, broadening applicability beyond delay-free systems.

Findings

Guarantees stability despite bounded delays

Demonstrates effectiveness through numerical example

Outperforms existing methods in literature

Abstract

Self-triggered control (STC) is a resource efficient approach to determine sampling instants for Networked Control Systems (NCS). Recently, a dynamic STC strategy based on hybrid Lyapunov functions for nonlinear NCS has been proposed in Hertneck and Allg\"ower (2021b), however with the limitation to NCS without transmission delays. In this paper, we extend this strategy for nonlinear NCS with transmission delays. The capability to handle systems with delays makes it possible to use the resulting dynamic STC mechanism in many practical scenarios where instant transmissions without delays cannot be guaranteed. The proposed dynamic STC mechanism guarantees stability despite bounded transmission delays. The effectiveness of the mechanism is illustrated with a numerical example and compared to state-of-the art literature.