18 research outputs found
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
Proceedings of the 6th IFAC Conference on Analysis and Design of Hybrid Systems
International audienc
Computation of periodic solutions in maximal monotone dynamical systems
In this paper, we study a class of set-valued dynamical systems that satisfy maximal monotonicity properties. This class includes linear relay systems, linear complementarity systems, and linear mechanical systems with dry friction under some conditions. We discuss two numerical schemes based on time-stepping methods for the computation of the periodic solutions when these systems are periodically excited. We provide formal mathematical justifications for the numerical schemes in the sense of consistency, which means that the continuous-time interpolations of the numerical solutions converge to the continuous-time periodic solution when the discretization step vanishes. The two time-stepping methods are applied for the computation of the periodic solution exhibited by a power electronic converter and the corresponding methods are compared in terms of approximation accuracy and computation time