One-step finite horizon boundary with varying control gain for event-driven Networked Control Systems

Abstract

Abstract-Recent research has shown that event-driven control requires less samples than time-driven (periodic) control. Consequently, event-driven control applied to Networked Control Systems (NCS) is a good approach for alleviating controllers bandwidth demands and reducing overall network traffic. Following this trend, this paper presents an execution rule for event-driven networked controllers that at each job execution aims at postponing the next job execution while applying an appropriated controller gain considering each varying sampling interval that applies at run time. This method permits to dynamically lower the generated traffic for each networked control loop while ensuring the same or better control performance than the achieved by the periodic case. In addition, an implementation strategy capable of dealing with network induced time delays is also presented. Simulation results illustrate the operation and benefits of the presented approach.

Resource-aware MPC for constrained nonlinear systems: A self-triggered control approach

“…The control law as in Algorithm 1 satisfies the performance guarantee given in (10) as well as the constraints given in (2) for the closed-loop system (1) with (17) for all x 0 ∈ X f . Proof.…”

“…The control law given by Algorithm 1 renders the closed-loop system given by (1) and (17) asymptotically stable for initial conditions in X f . (1) and (17). We will first show that…”

“…Considering the NCS literature, two main approaches oriented towards generating sporadically changing input signals (to save computation and communication resources) can be distinguished, namely, event-triggered control (ETC), see, e.g., [11][12][13][14][15][16][17], and selftriggered control (STC), see, e.g., [18][19][20][21][22][23][24], see also [25] for a recent overview. In ETC and STC, the control law consists of two elements being a feedback controller that computes the control input, and a triggering mechanism that determines when the control input has to be updated.…”

Event-Triggered and Self-Triggered Control for Networked Control Systems Using Online Optimization

“…From this viewpoint, event-triggered control and selftriggered control have been proposed so far (see e.g., [2], [3], [7]- [9], [14], [15], [18], [19], [21]- [24]). In eventtriggered control, the measured signal is sent to the controller only when a certain triggering condition on the measured signal is satisfied.…”

“…For example, in [22], [24], a design method based one-step finite horizon boundary has been proposed. In this method, the first sampling interval such that the optimal value of the cost function is improved, is computed under the constraint that other sampling periods are given as a constant.…”