Experimental validation of an event-triggered policy for remote sensing and control with performance guarantees

B. Van Eekelen, N. Rao, B.A. Khashooei, D.J. Antunes, W.P.M.H. Heemels

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

2 Citations (Scopus)

Abstract

There has been a surge of interest in event-triggered control in recent years, and many event-triggered control methods are now available in the literature. As the theory matures, there is a need to experimentally validate and test these methods in applications of interest. In this paper, we extend and experimentally validate an event-triggered control strategy presented in [1] for the remote point stabilization problem for a ground robot. This strategy specifies when transmissions should occur in both sensor-controller and controller-actuator channels, and guarantees a bound on performance measured by a finite-horizon quadratic cost. The experimental results are coherent with the simulation results and reveal that event-triggered control leads to a tremendous data transmission reduction (up to 90%) with respect to period control, with a minor performance loss.

Original languageEnglish
Title of host publication2016 2nd International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2016 - Proceedings, 13-15 Juni 2016, Krakow, Poland
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages1-8
ISBN (Electronic)978-1-5090-4196-1
ISBN (Print)978-1-5090-4197-8
DOIs
Publication statusPublished - 20 Oct 2016
Event2nd International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2016 - Krakow, Poland
Duration: 13 Jun 201615 Jun 2016

Conference

Conference2nd International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2016
CountryPoland
CityKrakow
Period13/06/1615/06/16

Fingerprint

Remote Control
Performance Guarantee
Experimental Validation
Remote control
Remote Sensing
Remote sensing
Controller
Surge
Finite Horizon
Data Transmission
Controllers
Control Strategy
Actuator
Minor
Stabilization
Robot
Data communication systems
Actuators
Sensor
Policy

Cite this

Van Eekelen, B., Rao, N., Khashooei, B. A., Antunes, D. J., & Heemels, W. P. M. H. (2016). Experimental validation of an event-triggered policy for remote sensing and control with performance guarantees. In 2016 2nd International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2016 - Proceedings, 13-15 Juni 2016, Krakow, Poland (pp. 1-8). [7605245] Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/EBCCSP.2016.7605245
Van Eekelen, B. ; Rao, N. ; Khashooei, B.A. ; Antunes, D.J. ; Heemels, W.P.M.H. / Experimental validation of an event-triggered policy for remote sensing and control with performance guarantees. 2016 2nd International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2016 - Proceedings, 13-15 Juni 2016, Krakow, Poland. Piscataway : Institute of Electrical and Electronics Engineers, 2016. pp. 1-8
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abstract = "There has been a surge of interest in event-triggered control in recent years, and many event-triggered control methods are now available in the literature. As the theory matures, there is a need to experimentally validate and test these methods in applications of interest. In this paper, we extend and experimentally validate an event-triggered control strategy presented in [1] for the remote point stabilization problem for a ground robot. This strategy specifies when transmissions should occur in both sensor-controller and controller-actuator channels, and guarantees a bound on performance measured by a finite-horizon quadratic cost. The experimental results are coherent with the simulation results and reveal that event-triggered control leads to a tremendous data transmission reduction (up to 90{\%}) with respect to period control, with a minor performance loss.",
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Van Eekelen, B, Rao, N, Khashooei, BA, Antunes, DJ & Heemels, WPMH 2016, Experimental validation of an event-triggered policy for remote sensing and control with performance guarantees. in 2016 2nd International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2016 - Proceedings, 13-15 Juni 2016, Krakow, Poland., 7605245, Institute of Electrical and Electronics Engineers, Piscataway, pp. 1-8, 2nd International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2016, Krakow, Poland, 13/06/16. https://doi.org/10.1109/EBCCSP.2016.7605245

Experimental validation of an event-triggered policy for remote sensing and control with performance guarantees. / Van Eekelen, B.; Rao, N.; Khashooei, B.A.; Antunes, D.J.; Heemels, W.P.M.H.

2016 2nd International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2016 - Proceedings, 13-15 Juni 2016, Krakow, Poland. Piscataway : Institute of Electrical and Electronics Engineers, 2016. p. 1-8 7605245.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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Van Eekelen B, Rao N, Khashooei BA, Antunes DJ, Heemels WPMH. Experimental validation of an event-triggered policy for remote sensing and control with performance guarantees. In 2016 2nd International Conference on Event-Based Control, Communication, and Signal Processing, EBCCSP 2016 - Proceedings, 13-15 Juni 2016, Krakow, Poland. Piscataway: Institute of Electrical and Electronics Engineers. 2016. p. 1-8. 7605245 https://doi.org/10.1109/EBCCSP.2016.7605245