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

3 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

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