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Robustifying event-triggered control to measurement noise

Authors: Koen J. A. Scheres; Romain Postoyan; W. P. Maurice H. Heemels;

Robustifying event-triggered control to measurement noise

Abstract

While many event-triggered control strategies are available in the literature, most of them are designed ignoring the presence of measurement noise. As measurement noise is omnipresent in practice and can have detrimental effects, for instance, by inducing Zeno behavior in the closed-loop system and with that the lack of a positive lower bound on the inter-event times, rendering the event-triggered control design practically useless, it is of great importance to address this gap in the literature. To do so, we present a general framework for set stabilization of (distributed) event-triggered control systems affected by additive measurement noise. It is shown that, under general conditions, Zeno-free static as well as dynamic triggering rules can be designed such that the closed-loop system satisfies an input-to-state practical set stability property. We ensure Zeno-freeness by proving the existence of a uniform strictly positive lower-bound on the minimum inter-event time. The general framework is applied to point stabilization and consensus problems as particular cases, where we show that, under similar assumptions as the original work, existing schemes can be redesigned to robustify them to measurement noise. Consequently, using this framework, noise-robust triggering conditions can be designed both from the ground up and by simple redesign of several important existing schemes. Simulation results are provided that illustrate the strengths of this novel approach.

Country
Netherlands
Keywords

stability of hybrid systems, Networked control systems, remote and distributed control, Systems and Control (eess.SY), Discrete event control/observation systems, Electrical Engineering and Systems Science - Systems and Control, Stability of hybrid systems, event-triggered control, Remote and distributed control, dynamic output-based control, Dynamic output-based control, Networked control, FOS: Electrical engineering, electronic engineering, information engineering, Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems), Event-triggered control, Input-output approaches in control theory, networked control systems

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
32
Top 10%
Top 10%
Top 1%
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