A novel approach to periodic event-triggered control: Design and application to the inverted pendulum

Aranda-Escolástico, Ernesto; Guinaldo, María; Gordillo, Francisco; Dormido, Sebastián

doi:10.1016/j.isatra.2016.08.019

Cited by 24 publications

(9 citation statements)

References 26 publications

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“…Some works in PETC systems assume a suitable sampling period a priori to the design [35]. Other recent approaches have addressed the stability issue through the time-delay approach [36], [37] or approximation techniques [38]. Of note, PETC has the main advantage of guaranteeing a minimal sampling period, which implies the absence of Zeno-behavior.…”

Section: Introductionmentioning

confidence: 99%

Periodic Event-Triggered Control for the Stabilization of Robotic Manipulators

et al. 2020

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This paper proposes a periodic event-triggered control (PETC) design applied to nonlinear robotic systems for joint space stabilization. The update of the control signal is based on a predefined triggering mechanism that periodically considers state measurements. So, continuous state measurements required in the continuous event-triggered control (CETC), are no longer needed in this proposal. The main advantages of the proposal are: 1) to assure the convergence of the closed-loop trajectories to a compact ball centered in the origin of the error space, and 2) the relaxation of continuous measurements for the evaluation of the event condition which implies a more suitable design for real-time implementation purposes. Experimental comparative results of the proposed design with a time-triggered control (TTC) scheme show that the PETC can present suitable performance with a significant reduction of 82.20% of the controller updates mainly given in the steady-state of the closed-loop system. This implies a decrement of the computation resources due to information transfer.

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Section: Introductionmentioning

confidence: 99%

Periodic Event-Triggered Control for the Stabilization of Robotic Manipulators

et al. 2020

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“…On the contrary, in event-based control, the control loop is closed when a triggering condition based on the current value of the system state is satisfied. The triggering condition can be checked continuously (Lunze and Lehmann, 2010;Lehmann and Lunze, 2011;Dimarogonas et al, 2012), leading to the so-called continuous event-triggered control (CETC), or at prefixed instances of time (Heemels et al, 2013;Peng and Han, 2013;Aranda-Escolástico et al, 2016;Ma et al, 2018), i.e., periodic event-triggered control (PETC). The analysis of PETC controllers is closely related to the study of networked control systems, in which an unreliable communication network is usually treated as a time-variable dead time (Yue et al, 2005;Millán et al, 2010).…”

Section: Introductionmentioning

confidence: 99%

Event–Based Feedforward Control of Linear Systems with input Time–Delay

Rodríguez

Aranda-Escolástico

Guinaldo

et al. 2019

International Journal of Applied Mathematics and Computer Science

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This paper proposes a new method for the analysis of continuous and periodic event-based state-feedback plus static feed-forward controllers that regulate linear time invariant systems with time delays. Measurable disturbances are used in both the control law and triggering condition to provide better disturbance attenuation. Asymptotic stability and L2-gain disturbance rejection problems are addressed by means of Lyapunov–Krasovskii functionals, leading to performance conditions that are expressed in terms of linear matrix inequalities. The proposed controller offers better disturbance rejection and a reduction in the number of transmissions with respect to other robust event-triggered controllers in the literature.

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“…However, using this strategy scheme for data processing results in a conservative usage of digital resources (see, for instance, [ 3 , 4 , 5 , 6 ] and references therein). Because sensors communicate frequently with these digital devices through limited bandwidth lines, especially in networked control systems, communication between sensors and the controller should be as small as possible to increase the performance of the closed-loop system against, for instance, congestion data or packet dropouts [ 3 , 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 ], among other benefits [ 14 , 15 , 16 ].…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, event-triggering mechanisms based on observers are desirable [ 7 , 13 , 32 ]. From the various previously cited approaches proposing an event-triggered control strategy based on observer design, our proposal is based on a modification of the triggering event system stated in [ 3 , 7 ] and is motivated by the one invoked in [ 6 , 14 ] but using the estimation of the states given by the observer mechanism instead of the states of the plant. This proposed strategy greatly improves the controller performance.…”

Section: Introductionmentioning

confidence: 99%

“…According to numerical experiments applied to the stabilization control of the inverted pendulum on a cart, our approach presents better performance in comparison to a cited case. Finally, it is worth noting that the inverted pendulum has recently been employed to test the performance of novel event-triggered controllers [ 3 , 7 , 14 ].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Event-Driven Observer-Based Smart-Sensors for Output Feedback Control of Linear Systems

Acho

2017

Sensors

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This paper deals with a recent design of event-driven observer-based smart sensors for output feedback control of linear systems. We re-design the triggering mechanism proposed in a previously reported system with the implementation of self-sampling data smart sensors; as a result, we improve its performance. Our approach is theoretically supported by using Lyapunov theory and numerically evidenced by controlling the inverted pendulum on the cart mechanism.

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A novel approach to periodic event-triggered control: Design and application to the inverted pendulum

Cited by 24 publications

References 26 publications

Periodic Event-Triggered Control for the Stabilization of Robotic Manipulators

Periodic Event-Triggered Control for the Stabilization of Robotic Manipulators

Event–Based Feedforward Control of Linear Systems with input Time–Delay

Event-Driven Observer-Based Smart-Sensors for Output Feedback Control of Linear Systems

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