Abstract
In this article, we consider the design of an event-triggered ℓ2-control policy, for a setting where a scheduler is arbitrating state transmissions from the sensors to the controller of a discrete-time linear system. We start by introducing a periodic time-triggered ℓ2-controller for different transmission time-periods with a given ℓ2-gain bound using the minimax game-theoretical approach. After that, we propose an ℓ2-consistent event-triggered controller in the sense that it guarantees at least the same ℓ2-gain bound as the designed periodic time-triggered ℓ2-controller, however with a larger, or at most equal, average inter-transmission time. In practice, for typical disturbances, the proposed event-triggered scheme can lead to significant gains, both in terms of communication savings and disturbance attenuation, compared to periodic time-triggered policies, which is illustrated through a numerical example.
| Original language | English |
|---|---|
| Article number | 109412 |
| Number of pages | 11 |
| Journal | Automatica |
| Volume | 125 |
| DOIs | |
| Publication status | Published - Mar 2021 |
Funding
This project was funded from the European Union’s Horizon 2020 Framework Programme for Research and Innovation under grant agreement No. 674875 (oCPS) . The material in this paper was not presented at any conference. This paper was recommended for publication in revised form by Associate Editor Dimos V. Dimarogonas under the direction of Editor Christos G. Cassandras. Maurice Heemels received M.Sc. (mathematics) and Ph.D. (control theory) degrees (summa cum laude) from the Eindhoven University of Technology (TU/e) in 1995 and 1999, respectively. From 2000 to 2004, he was with the Electrical Engineering Department, TU/e, as an assistant professor, and from 2004 to 2006 with the Embedded Systems Institute (ESI) as a research fellow. Since 2006, he has been with the Department of Mechanical Engineering, TU/e, where he is currently a Full Professor. Maurice held visiting professor positions at Swiss Federal Institute of Technology (ETH), Switzerland (2001), University of California at Santa Barbara (2008) and University of Lorraine, France (2020). His current research includes hybrid and cyber–physical systems, networked and event-triggered control systems and model predictive control. Dr. Heemels served/s on the editorial boards of Automatica, Nonlinear Analysis: Hybrid Systems, Annual Reviews in Control, and IEEE Transactions on Automatic Control. He was a recipient of a personal VICI grant awarded by NWO (Dutch Research Council). He is a Fellow of the IEEE and is currently chair of the IFAC Technical Committee on Networked Systems (2017–2023). He was the recipient of the 2019 IEEE L-CSS Outstanding Paper Award and was elected for the IEEE-CSS Board of Governors (2021–2023).
Keywords
- Dynamic game theory
- Networked control systems
- ℓ-consistent event-triggered controller
- ℓ-gain