Lyapunov-based approach to event-triggered control with self-triggered sampling

Nakayama, Shota; Kobayashi, Koichi; Yamashita, Yuh

Advanced Robotics, 2024, 38(9-10), 603-609

Permalink : https://hdl.handle.net/2115/94101

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論文情報

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アクセス権
open access
URI
https://hdl.handle.net/2115/94101
タイトル
Lyapunov-based approach to event-triggered control with self-triggered sampling
著者
Nakayama, Shota ; Kobayashi, Koichi ; Yamashita, Yuh
著者名
Nakayama, Shota
e-Rad_Researcher
50452115
著者名
Kobayashi, Koichi
e-Rad_Researcher
90210426
著者名
Yamashita, Yuh
キーワード
Cyber-physical systems
event-triggered control
self-triggered sampling
Lyapunov function
uniformly ultimately boundedness
発行日
2024-05-28
出版者
Taylor & Francis
収録物名
Advanced Robotics
巻(号)
38(9-10)
ページ
603-609
抄録
In this paper, a Lyapunov-based design method for event-triggered control with self-triggered sampling is proposed. In the proposed method, update of the control input and sampling of the state are individually determined based on two kinds of upper bounds of the Lyapunov function. By the proposed method, a non-monotonic Lyapunov function can be constructed. By non-monotonic decrease of a Lyapunov function, the number of communications can be reduced. In the neighborhood of the origin, we consider a control method such that the state stays in a certain set. As a result, it is guaranteed that the closed-loop system is uniformly ultimately bounded. Through a numerical example, we demonstrate the effectiveness of the proposed method.
資源タイプ
学術雑誌論文
出版タイプ
Accepted Manuscript
権利情報
This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 25 May 2024, available at: https://doi.org/10.1080/01691864.2024.2321181.
PISSN
0169-1864
EISSN
1568-5535
関連情報 (isVersionOf)
出版社版DOI
https://doi.org/10.1080/01691864.2024.2321181