Related papers: Greedy Synthesis of Event- and Self-Triggered Cont…
This paper proposes an event-triggered parameterized control method using a control Lyapunov function approach for discrete time linear systems with external disturbances. In this control method, each control input to the plant is a linear…
This paper proposes a novel framework for resource-aware control design termed performance-barrier-based triggering. Given a feedback policy, along with a Lyapunov function certificate that guarantees its correctness, we examine the problem…
This paper presents a method for control synthesis under spatio-temporal constraints. First, we consider the problem of reaching a set $S$ in a user-defined or prescribed time $T$. We define a new class of control Lyapunov functions, called…
In this paper, we present a new class of event triggering mechanisms for event-triggered control systems. This class is characterized by the introduction of an internal dynamic variable, which motivates the proposed name of dynamic event…
We present a prescriptive framework for the event-triggered control of nonlinear systems. Rather than closing the loop periodically, as traditionally done in digital control, in event-triggered implementations the loop is closed according…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
Self-triggered control is an improvement on event-triggered control methods. Unlike the latter, self-triggered control does not require monitoring the behavior of the system constantly. Instead, self-triggered algorithms predict the events…
The efficient utilization of available resources while simultaneously achieving control objectives is a primary motivation in the event-triggered control paradigm. In many modern control applications, one such objective is enforcing the…
This article studies the event-triggered control problem of general nonlinear systems with time delay. A novel event-triggering scheme is presented with two tunable design parameters, based on a Lyapunov functional result for the…
This paper studies the stabilization and safety problems of nonlinear time-delay systems, where time delays exist in system state and affect the controller design. Following the Razumikhin approach, we propose a novel control…
In a recent paper [8], we introduced a data-based approach to design event-triggered controllers for linear systems directly from data. Here, we extend the results in [8] to a class of nonlinear systems. We provide two data-based designs…
We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent operation of the original system within some safe region of…
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…
Lyapunov redesign is a classical technique that uses a nominal control and its corresponding nominal Lyapunov function to design a discontinuous control, such that it compensates the uncertainties and disturbances. In this paper, the idea…
In systems where the ability to actuate is a scarce resource, e.g., spacecrafts, it is desirable to only apply a given controller in an intermittent manner--with periods where the controller is on and periods where it is off. Motivated by…
In this paper, we propose a new aperiodic formulation of model predictive control for nonlinear continuous-time systems. Unlike earlier approaches, we provide event-triggered conditions without using the optimal cost as a Lyapunov function…
In this paper, a self-triggered control scheme for constrained discrete-time control systems is presented. The key idea of our approach is to construct a transition system or a graph structure from a collection of polyhedral sets, which are…
We employ the recent performance-barrier event-triggered control (P-ETC) for achieving global exponential convergence of a class of reaction-diffusion PDEs via PDE backstepping control. Rather than insisting on a strictly monotonic decrease…
The paper proposes a distributed eventtriggered consensus approach for linear multi-agent systems with guarantees over rate of convergence, resilience to control gain uncertainties, and Pareto optimality of design parameters, namely, the…
Predefined-time stability enables convergence within a user-specified time independent of initial conditions. Existing results are predominantly based on autonomous Lyapunov inequalities, where the predefined-time is realized through…