Event‐triggered control of quasi‐LPV systems with communication delays
Pedro Henrique Silva Coutinho, L. G. Moreira, Reinaldo M. Palhares
Abstract
Abstract This paper addresses the dynamic periodic event‐triggered control for local stabilization of nonlinear networked control systems with communication delays. Based on a polytopic quasi‐linear parameter‐varying (quasi‐LPV) model of the nonlinear plant and the Lyapunov–Krasovskii stability theory, a local stability analysis condition is established. Then a constructive co‐design condition is proposed to jointly design the state‐feedback control law and the trigger rule. The local asymptotic stability of the closed‐loop equilibrium point of interest is ensured with a guaranteed region of attraction where trajectories remain inside even in the presence of communication delays. An optimization procedure is proposed to perform the co‐design considering the objectives of enlarging the guaranteed region of attraction and reducing the number of transmissions. Numerical examples indicate a trade‐off between these two objectives. Also, the examples illustrate the effectiveness of the proposed dynamic event‐triggered control co‐design approach over both its static counterpart and periodic time‐triggering mechanisms.