# Greedy Synthesis of Event- and Self-Triggered Controls with Control Lyapunov-Barrier Function

## TL;DR

This paper introduces a greedy synthesis method for event- and self-triggered control systems that optimizes control input computation to extend inter-execution times while ensuring safety and stability constraints.

## Contribution

It proposes a novel control synthesis approach that co-designs control inputs and execution decisions, guaranteeing minimum inter-execution times and improving over existing methods.

## Key findings

- Guarantees lower bounds on inter-execution times.
- Demonstrates effectiveness through numerical example.
- Outperforms existing event- and self-triggered control approaches.

## Abstract

This paper addresses the co-design problem of control inputs and execution decisions for event- and self-triggered controls subject to constraints given by the control Lyapunov function and control barrier function. The proposed approach computes the control input in a way that allows for longer inter-execution intervals, which distinguishes it from many existing event- and self-triggered controllers or control Lyapunov-barrier function controllers. The proposed approach guarantees lower bounds on the minimum inter-execution times. The effectiveness of the proposed approach is demonstrated and compared with existing approaches using a numerical example.