Naslov
Input-Output Triggered Control using Lp-Stability over Finite Horizons

Autori
Tolić, Domagoj ; Sanfelice, Ricardo G. ; Fierro, Rafael

Izvornik
International journal of robust and nonlinear control (1049-8923) 25 (2015), 14; 2299-2327

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
intermittent information; self-triggering; small gain theorem; Lp-stability; hybrid systems

Sažetak
This paper investigates stability of nonlinear control systems under intermittent information. Following recent results in the literature, we replace the traditional periodic paradigm, where the up-to-date information is transmitted and control laws are executed in a periodic fashion, with the event-triggered paradigm. Building on the small gain theorem, we develop input–output triggered control algorithms yielding stable closed-loop systems. In other words, based on the currently available (but outdated) measurements of the outputs and external inputs of a plant, a mechanism triggering when to obtain new measurements and update the control inputs is provided. Depending on the noise in the environment, the developed algorithm yields stable, asymptotically stable, and Lp-stable (with bias) closed-loop systems. Control loops are modeled as interconnections of hybrid systems for which novel results on Lp-stability are presented. The prediction of a triggering event is achieved by employing Lp-gains over a finite horizon. By resorting to convex programming, a method to compute Lp-gains over a finite horizon is devised. Finally, our approach is successfully applied to a trajectory tracking problem for unicycles.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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