Codesign of Dynamic Event-Triggered Gain-Scheduling Control for a Class of Nonlinear Systems

Resumo

Resumo

This technical article investigates the problem of event-triggered gain-scheduling control of nonlinear systems. The considered class of nonlinear systems is such that an equivalent local polytopic model is obtained. By following the codesign approach, it is performed the simultaneous design of the dynamic event-triggering mechanism (ETM) and the gain-scheduled controller parameterized in terms of state-dependent scheduling functions. As the state information is only available to the controller at specific instants determined by the ETM, the scheduling functions of controller and plant polytopic model are asynchronous. To cope with this drawback, the trigger function of the dynamic ETM is appropriately defined to mitigate the influence of asynchronous scheduling functions in the Lyapunov stability-based analysis, allowing to derive a less conservative codesign condition. A convex optimization problem with linear matrix inequality constraints is proposed to perform the codesign and to enlarge the interevent times. Also, it is shown that there exists a lower bound for the interevent times, which prevents Zeno behavior. Numerical examples are provided to illustrate the advantages of the proposed dynamic event-triggered control codesign approach over emulation-based approach and its static counterpart.

palavras-chave

Palavras-chave

event-triggered controlgain-scheduled controlco-designnonlinear systemspolytopic modeldynamic event-triggering mechanismLyapunov stabilityinter-event timeZeno behaviorlinear matrix inequalitiesconvex optimization

links

Links e arquivos