Event-Triggered Observers and Observer-Based Controllers for a Class of Nonlinear Systems

In this paper, we investigate the stabilization of a nonlinear plant subject to network constraints, under the assumption of partial knowledge of the plant state. The event triggered paradigm is used for the observation and the control of the system. Necessary conditions, making use of the ISS property, are given to guarantee the existence of a triggering mechanism, leading to asymptotic convergence of the observer and system states. The proposed triggering mechanism is illustrated in the stabilization of a robot with a flexible link robot.Comment: Proceedings of the 2015 American Control Conference - ACC 201

Event-based State Estimation: An Emulation-based Approach

An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor agents observe a dynamic process and sporadically transmit their measurements to estimator agents over a shared bus network. Local event-triggering protocols ensure that data is transmitted only when necessary to meet a desired estimation accuracy. The event-based design is shown to emulate the performance of a centralised state observer design up to guaranteed bounds, but with reduced communication. The stability results for state estimation are extended to the distributed control system that results when the local estimates are used for feedback control. Results from numerical simulations and hardware experiments illustrate the effectiveness of the proposed approach in reducing network communication.Comment: 21 pages, 8 figures, this article is based on the technical report arXiv:1511.05223 and is accepted for publication in IET Control Theory & Application

Event-triggered gain scheduling of reaction-diffusion PDEs

This paper deals with the problem of boundary stabilization of 1D reaction-diffusion PDEs with a time- and space- varying reaction coefficient. The boundary control design relies on the backstepping approach. The gains of the boundary control are scheduled under two suitable event-triggered mechanisms. More precisely, gains are computed/updated on events according to two state-dependent event-triggering conditions: static-based and dynamic-based conditions, under which, the Zeno behavior is avoided and well-posedness as well as exponential stability of the closed-loop system are guaranteed. Numerical simulations are presented to illustrate the results.Comment: 20 pages, 5 figures, submitted to SICO