Adaptive Event-triggered Control with Sampled Transmitted Output and Controller Dynamics

TL;DR

This paper proposes an adaptive event-triggered control scheme for uncertain nonlinear systems, moving all controller components to the controller side, utilizing sampled outputs, and ensuring stability despite asynchronous sampling.

Contribution

It introduces a novel control framework with sampled transmitted outputs and controller dynamics on the controller side, addressing challenges of non-differentiability and asynchronous sampling.

Findings

All internal signals are semiglobally bounded.

The output is practically stabilized to the origin.

Numerical simulations confirm effectiveness.

Abstract

The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in the literature, however the controller must partially reside at the plant side where the computation capacity is required. In this paper, all controller components are moved to the controller side and their dynamics use sampled states rather than continuous one with the benefit of directly estimating next triggering instance of some conditions and avoiding constantly checking event condition at the controller side. However, these bring two major challenges. First, the virtual input designed in the dynamic filtering technique for the stabilization is no longer differentiable. Second, the plant output is sampled to transmit at plant side and sampled again at controller side to construct the controller, and the two asynchronous samplings make the analysis more involving. This paper solves these two issues by introducing a new state observer to simplify the adaptive law, a set of continuous companion variables for stability analysis and a new lemma quantifying the error bound between actual output signal and sampled transmitted output. It is theoretically guaranteed that all internal signals in the closed-loop system are semiglobally bounded and the output is practically stabilized to the origin. Finally, the numerical simulation illustrates the effectiveness of proposed scheme.