On Event Triggered Tracking for Nonlinear Systems

By Pavankumar Tallapragada, Nikhil Chopra. IEEE Transactions on Automatic Control, 2013

314 citations recorded by the source corpus.

In this technical note, we study an event-based control algorithm for trajectory tracking in nonlinear systems. The desired trajectory is modelled as the solution of a reference system with an exogenous input and it is assumed that the desired trajectory and the exogenous input to the reference system are uniformly bounded. Given a continuous-time control law that guarantees global uniform asymptotic tracking of the desired trajectory, our algorithm provides an event-based controller that not only guarantees uniform ultimate boundedness of the tracking error, but also ensures non-accumulation of inter-execution times. In the case that the derivative of the exogenous input to the reference system is also uniformly bounded, an arbitrarily small ultimate bound can be designed. If the exogenous input to the reference system is piecewise continuous and not differentiable everywhere then the achievable ultimate bound is constrained and the result is local, though with a known region of attraction. The main ideas in the technical note are illustrated through simulations of trajectory tracking by a nonlinear system.

Subfields: Computer Networks and Communications, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/cc2ec02cc3765b6b3c0770ce58598e2e4cb5e2c9

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Citations in the corpus

A Small-Gain Approach to Robust Event-Triggered Control of Nonlinear Systems (2015, background): “Reference [13] proposes a Lyapunov condition for tracking control of nonlinear systems.”
Observer-based event-triggered control co-design for linear systems (2016, background): “Following the event-triggered control strategy proposed in [8, 27], the sampling instants are determined from the following logic: ��+ 1 = min {� ≥ ��+ �, s .”
A Framework for the Event-Triggered Stabilization of Nonlinear Systems (2015, result): “Similar results have been derived in different contexts and for specific classes of systems and triggering conditions in [5], [29].”
Adaptive Critic Nonlinear Robust Control: A Survey (2017, methodology): “7The minimal intersample time might be zero which causes the accumulation of interexecution times [153], [154].”
Event-Separation Properties of Event-Triggered Control Systems (2014, methodology): “For instance, combining a relative ETM with the strategies in [10], [14], [37], which generate no events while the state (or measured output) of the system lies in a compact set around the origin, could be one choice of interest, although even in this case it might still be useful to use a mixed ETM”