Model-Based Event-Triggered Implementation of Hybrid Controllers Using Finite-Time Convergent Observers
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866913577974104064 |
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| author | Zhu, Xuanzhi Casau, Pedro Silvestre, Carlos |
| author_facet | Zhu, Xuanzhi Casau, Pedro Silvestre, Carlos |
| contents | In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant state, and a controller node that receives opportunistic samples from the sensor node when certain model-based event-triggering conditions are met. The proposed method is endowed with a degree of separation, in the sense that the controller design is independent of the sensor design. This is achieved under mild regularity conditions imposed on the hybrid closed-loop system and the existence of persistently flowing solutions. We demonstrate the versatility of the method by implementing it on: 1) a sampled-data controller for regulation of linear plants; 2) a synergistic controller for attitude stabilization of rigid bodies. The effectiveness of these novel controllers is demonstrated through numerical simulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_09307 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Model-Based Event-Triggered Implementation of Hybrid Controllers Using Finite-Time Convergent Observers Zhu, Xuanzhi Casau, Pedro Silvestre, Carlos Systems and Control In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant state, and a controller node that receives opportunistic samples from the sensor node when certain model-based event-triggering conditions are met. The proposed method is endowed with a degree of separation, in the sense that the controller design is independent of the sensor design. This is achieved under mild regularity conditions imposed on the hybrid closed-loop system and the existence of persistently flowing solutions. We demonstrate the versatility of the method by implementing it on: 1) a sampled-data controller for regulation of linear plants; 2) a synergistic controller for attitude stabilization of rigid bodies. The effectiveness of these novel controllers is demonstrated through numerical simulations. |
| title | Model-Based Event-Triggered Implementation of Hybrid Controllers Using Finite-Time Convergent Observers |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2411.09307 |