Digital self-triggered robust control of nonlinear systems |
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Authors: | M.D. Di Benedetto S. Di Gennaro |
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Affiliation: | Department of Information Engineering, Computer Science and Mathematics, University of L’Aquila, Via G. Gronchi, 18, Nucleo Industriale di Pile, L’Aquila, 67100 Italy |
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Abstract: | In this paper, we develop novel results on self-triggered control of nonlinear systems, subject to perturbations, and sensing/computation/actuation delays. First, considering an unperturbed nonlinear system with bounded delays, we provide conditions that guarantee the existence of a self-triggered control strategy stabilizing the closed-loop system. Then, considering parameter uncertainties, disturbances and bounded delays, we provide conditions guaranteeing the existence of a self-triggered strategy that keeps the state arbitrarily close to the equilibrium point. In both cases, we provide a methodology for the computation of the next execution time. We show on an example the relevant benefits obtained with this approach in terms of energy consumption with respect to control algorithms based on a constant sampling with a sensible reduction of the average sampling time. |
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Keywords: | self-triggered control nonlinear systems robust control |
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