Digital Self Triggered Robust Control of Nonlinear Systems
For control engineers, this offers a method to reduce communication/computation in nonlinear systems with delays and disturbances, though results are incremental over existing self-triggered control work.
This paper develops a self-triggered control strategy for nonlinear systems with perturbations and actuation delays, providing conditions for stability and near-equilibrium behavior, and demonstrates significant energy savings (reduced average sampling time) compared to constant sampling.
In this paper we develop novel results on self triggering control of nonlinear systems, subject to perturbations and actuation delays. First, considering an unperturbed nonlinear system with bounded actuation delays, we provide conditions that guarantee the existence of a self triggering control strategy stabilizing the closed--loop system. Then, considering parameter uncertainties, disturbances, and bounded actuation delays, we provide conditions guaranteeing the existence of a self triggering strategy, that keeps the state arbitrarily close to the equilibrium point. In both cases, we provide a methodology for the computation of the next execution time. We show on an example the relevant benefits obtained with this approach, in terms of energy consumption, with respect to control algorithms based on a constant sampling, with a sensible reduction of the average sampling time.