Event-Triggered Synergistic Controllers with Dwell-Time Transmission

TL;DR

This paper introduces new event-triggered synergistic controllers for nonlinear systems that ensure dwell-time transmission and stability, demonstrated through simulations on attitude stabilization.

Contribution

It develops a novel class of event-triggered synergistic controllers that guarantee dwell-time transmission and stability, addressing issues with naive event-triggering approaches.

Findings

Guarantee of dwell-time transmission and stability

Effective control demonstrated on rigid body attitude stabilization

Addresses joint jumping dynamics in event-triggered control

Abstract

We propose novel event-triggered synergistic controllers for nonlinear continuous-time plants by incorporating event-triggered control into stabilizing synergistic controllers. We highlight that a naive application of common event-triggering conditions may not ensure dwell-time transmission due to the joint jumping dynamics of the closed-loop system. Under mild conditions, we develop a suite of event-triggered synergistic controllers that guarantee both dwell-time transmission and global asymptotic stability. Through numerical simulations, we demonstrate the effectiveness of our controller applied to the problem of rigid body attitude stabilization.