Asynchronous Event-Triggered Control for Non-Linear Systems

TL;DR

This paper introduces a flexible asynchronous event-triggered control scheme for nonlinear systems that conserves network resources and avoids Zeno behavior, accommodating various sampling schemes.

Contribution

It extends existing ETC methods by allowing non-periodic, asynchronous sampling with hybrid dynamics and auxiliary timers to prevent Zeno behavior.

Findings

The scheme effectively manages asynchronous sampling in nonlinear control systems.

It prevents Zeno behavior using auxiliary timer variables.

Numerical example demonstrates practical applicability.

Abstract

With the increasing ubiquity of networked control systems, various strategies for sampling constituent subsystems' outputs have emerged. In contrast with periodic sampling, event-triggered control provides a way to efficiently sample a subsystem and conserve network resource usage, by triggering an update only when a state-dependent error threshold is satisfied. Herein we describe a novel scheme for asynchronous event-triggered measurement and control (ETC) of a nonlinear plant using sampler subsystems with hybrid dynamics. We extend existing ETC literature by adopting a more general representation of the sampler subsystem dynamics that do not require trigger periodicity or simultaneity, thus accommodating different sampling schemes for both synchronous and asynchronous ETC applications. We ensure that the plant and controller trigger rules are not susceptible to Zeno behavior by employing auxiliary timer variables in conjunction with state-dependent error thresholds. We conclude with a numerical example in order to illustrate important practical considerations when applying such schemes.