Event-Triggered Stabilization of Nonlinear Systems with Time-Varying Sensing and Actuation Delay
For control engineers, this work provides a theoretical framework for event-triggered control under time-varying delays, but it is incremental as it extends existing predictor-feedback methods to event-triggered settings.
This paper addresses stabilization of nonlinear systems with time-varying sensing and actuation delays using event-triggered control, achieving global asymptotic stability with guaranteed positive inter-event times and no Zeno behavior. For linear systems, global exponential stability is proven with a trade-off between convergence rate and sampling frequency.
This paper studies the problem of stabilization of a nonlinear system with time-varying delays in both sensing and actuation using event-triggered control. Our proposed strategy seeks to opportunistically minimize the number of control updates while guaranteeing stabilization and builds on predictor feedback to compensate for arbitrarily large known time-varying delays. We establish, using a Lyapunov approach, the global asymptotic stability of the closed-loop system as long as the open-loop system is globally input-to-state stabilizable in the absence of time delays and sampling. We further prove that the proposed event-triggered law has inter-event times that are uniformly lower bounded and hence does not exhibit Zeno behavior. For the particular case of a stabilizable linear system, we show global exponential stability of the closed-loop system and analyze the trade-off between the rate of exponential convergence and a bound on the sampling frequency. We illustrate these results in simulation and also examine the properties of the proposed event-triggered strategy beyond the class of systems for which stabilization can be guaranteed.