Chaos and Order in Event-Triggered Control

• 成果类型: Article
• 署名作者: Gleizer, Gabriel de Albuquerque; Mazo, Manuel, Jr.
• 署名单位: Delft University of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3242334
• 发表日期: 2023
• 页码: 6541-6556
• 关键词: Chaotic systems; computational methods; Event-triggered control (ETC); hybrid systems; sampled-data control.

摘要

Event-triggered control (ETC) is claimed to provide significant reductions in sampling frequency when compared to periodic sampling, but little is formally known about its generated traffic. This work shows that ETC can exhibit very complex, even chaotic traffic, especially when the triggering condition is aggressive in reducing communications. First, by looking at the map dictating the evolution of states sampled, we characterize limit traffic patterns by observing invariant lines and planes through the origin, as well as their attractivity. Then, we present abstraction-based methods to compute limit metrics, such as limit average and limit inferior intersample time of periodic ETC (PETC), with considerations to the robustness of such metrics, as well as measuring the emergence of chaos. The methodology and tools allow us to find ETC examples that provably outperform periodic sampling in terms of average IST. In particular for PETC, we prove that this requires aperiodic or chaotic traffic.