Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Event-triggered control for nonlinear systems with
time-varying input delay
E. Nozari, P. Tallapragada, J. Cortés
Proceedings of the IEEE Conference on Decision and
Control, Las Vegas, Nevada, USA, 2016, pp. 495-500
Abstract
This paper studies the problem of event-triggered
control design for general continuous-time nonlinear
systems with time-varying input delay. Our
methodology is based on the concept of predictor
feedback and is capable of compensating arbitrarily
large known time delays. Under mild conditions, we
prove that as long as the delay-free system is
globally input-to-state stabilizable, it can also be
globally asymptotically stabilized via
piecewise-constant event-triggered control. We prove
that the proposed event-triggering design does not
suffer from Zeno behavior as the inter-event times
are uniformly lower bounded. We further show that
our design achieves exponential stability for a
controllable linear system and study the trade-off
between convergence speed and communication cost.
Various simulations illustrate our results.
pdf   |  
ps.gz
Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
Skype id:
jorgilliyo