Dynamic self-triggered control for nonlinear systems with delays
Abstract
Self-triggered control (STC) is a resource efficient approach to determine sampling instants for Networked Control Systems (NCS). Recently, a dynamic STC strategy based on hybrid Lyapunov functions for nonlinear NCS has been proposed in Hertneck and Allg\"ower (2021b), however with the limitation to NCS without transmission delays. In this paper, we extend this strategy for nonlinear NCS with transmission delays. The capability to handle systems with delays makes it possible to use the resulting dynamic STC mechanism in many practical scenarios where instant transmissions without delays cannot be guaranteed. The proposed dynamic STC mechanism guarantees stability despite bounded transmission delays. The effectiveness of the mechanism is illustrated with a numerical example and compared to state-of-the art literature.
Cite
@article{arxiv.2202.04539,
title = {Dynamic self-triggered control for nonlinear systems with delays},
author = {Michael Hertneck and Frank Allgöwer},
journal= {arXiv preprint arXiv:2202.04539},
year = {2022}
}
Comments
Final version, accepted for presentation at the 9th IFAC Conference on Networked Systems (NecSys), 2022. This version contains the full proofs of Proposition 1 and Theorem 1