Isochronous Partitions for Region-Based Self-Triggered Control
For control engineers, this work offers a practical self-triggered control method for nonlinear systems, but it is incremental as it builds on prior work on isochronous manifolds.
This work proposes a region-based self-triggered control scheme for nonlinear systems, partitioning the state space into regions with uniform inter-event times, and uses approximations of isochronous manifolds to derive them. The approach addresses theoretical issues and provides an effective computational method, demonstrated through simulations.
In this work, we propose a region-based self-triggered control (STC) scheme for nonlinear systems. The state space is partitioned into a finite number of regions, each of which is associated to a uniform inter-event time. The controller, at each sampling time instant, checks to which region does the current state belong, and correspondingly decides the next sampling time instant. To derive the regions along with their corresponding inter-event times, we use approximations of isochronous manifolds, a notion firstly introduced in [1]. This work addresses some theoretical issues of [1] and proposes an effective computational approach that generates approximations of isochronous manifolds, thus enabling the region-based STC scheme. The efficiency of both our theoretical results and the proposed algorithm are demonstrated through simulation examples.