Event-triggered Control for Linear Systems with Model Uncertainty and Clock Offset
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Event-triggered Control for Linear Systems with Model Uncertainty and Clock Offset Xiang-hua Jiang and Qiang Ling* Abstract: This paper investigates the input-to-state stability (ISS) of continuous-time networked control systems with model uncertainty and bounded noise based on event-triggering. The information generated at the sensor is quantized and transmitted to the controller through a digital communication channel, which suffers from the network-induced time delay and clock offset. In the concerned event-triggering framework, such clock offset may cause long-term inconsistency between the state estimates of the sensor and the controller, and leads to the failure of ISS. By designing a well-designed state-dependent event-triggering threshold and updating methods, it can still ensure ISS for the concerned system in the presence of bounded clock offset and model uncertainty without exhibiting Zeno behavior. Simulations are done to verify the achieved results. Keywords: Clock offset, event-triggering, model uncertainty, network delay, networked control systems.
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INTRODUCTION
Recently networked control systems (NCSs) have caught more and more attention [1]. In NCS, the communication through digital networks among controllers, sensors and actuators reduces the deployment cost and increases flexibility compared with the direct-line communication of conventional control systems [2]. The control tasks of NCSs are often required to perform with limited resources, which can break the perfect feedback condition due to many issues, such as quantization error and network delay. In NCSs, the feedback signals have to be first quantized into a finite number of bits and then transmitted through a digital communication network. Therefore it becomes mandatory to investigate the effects of quantization error on networked systems. Extensive research has been done in the area of NCSs as described in the special issue [3] and references therein. Reducing the amount of communication between sensor and controller nodes without compromising the stability of control systems has been the major goal of many papers [4, 5]. There are two important approaches to extend the time interval within which a control system can operate without receiving feedback measurements, including Model-Based Networked Control Systems (MB-NCSs) and event-triggered control. 1) The MB-NCSs approach represents an important
framework that considers model uncertainty in the absence of continuous-time feedback [6, 7]. Then the MB-NCSs approach is implemented to event-triggered systems [8], whose framework is followed in the present paper. In MB-NCSs, the stability conditions do not need to perfectly know the plant parameters, and are usually determined by the nominal values of these parameters and some bounds on the parameter uncertainty. 2) The event-triggered control samples the plant state continuously and updates the control signal when some specified conditions are satisfied [9]. In [10], a syst
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