Robustifying Event-Triggered Control to Measurement Noise

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

Distributed Periodic Event-triggered Control of Nonlinear Multi-Agent Systems

We present a general emulation-based framework to address the distributed control of multi-agent systems over packet-based networks. We consider the setup where information is only transmitted at (non-uniform) sampling times and where packets are received with unknown delays. We design local dynamic periodic event-triggering mechanisms to generate the transmissions. The triggering mechanisms can run on non-synchronized digital platforms, i.e., we ensure that the conditions must only be verified at asynchronous sampling times, which may differ for each platform. Different stability and performance characteristics can be considered as we follow a general dissipativity-based approach. Moreover, Zeno-free properties are guaranteed by design. The results are illustrated on a consensus problem.Comment: To appear in the proceedings of NecSys202