Performance-Barrier-Based Event-Triggered Control With Applications to Network Systems

• 成果类型: Article
• 署名作者: Ong, Pio; Cortes, Jorge
• 署名单位: California Institute of Technology; University of California System; University of California San Diego
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3318193
• 发表日期: 2024
• 页码: 4230-4244
• 关键词: Behavioral sciences; Network systems; CONVERGENCE; Vehicle dynamics; Laplace equations; Eigenvalues and eigenfunctions; asymptotic stability; Discrete-event systems; event-triggered control; Lyapunov methods; Multi-agent systems; nonlinear control systems

摘要

This article proposes a novel framework for resource-aware control design termed performance-barrier-based triggering. Given a feedback policy, along with a Lyapunov function certificate that guarantees its correctness, we examine the problem of designing its digital implementation through event-triggered control while ensuring a prescribed performance on the certificate's convergence rate is met and triggers occur as sparingly as possible. Our methodology takes into account the performance residual, i.e., how well the system is doing in regards to the prescribed performance. Inspired by the notion of control barrier function, the trigger design allows the certificate to deviate from monotonically decreasing, with leeway specified as an increasing function of the performance residual, resulting in greater flexibility in prescribing update times. We study different types of performance specifications, with particular attention to quantifying the benefits of the proposed approach in the exponential case. We build on this to design intrinsically Zeno-free distributed triggers for network systems. A comparison of event-triggered approaches in a vehicle platooning problem shows how the proposed design meets the prescribed performance with a significantly lower number of controller updates.