Event triggered control of singularly perturbec linear system based on its slow and fast model
22 Mar 2017-pp 791-796
TL;DR: The stability properties of overall closed loop system is studied and it is found that for sufficiently small value of singular perturbation parameter, system attains practical stability and by adequately selecting trigger function parameters, asymptotic stability is also achieved.
Abstract: In this paper, we consider the event triggered control of the singularly perturbed linear system, where the communication between sensor and the controller/actuator is through a digital communication network and the transmission is based on some state dependent criterion. The models of slow and fast subsystems of the plant are added at the controller and are used for the estimation of states between the transmission times. Whenever the difference between estimated and actual states exceeds a certain threshold, controller is updated with the actual states of the plant provided by the sensor. This effectively reduces the communication frequency. The stability properties of overall closed loop system is studied and it is found that for sufficiently small value of singular perturbation parameter, system attains practical stability and by adequately selecting trigger function parameters, asymptotic stability is also achieved. A numerical example is shown to illustrate the results of the paper.
References
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TL;DR: This note investigates a simple event-triggered scheduler based on the paradigm that a real-time scheduler could be regarded as a feedback controller that decides which task is executed at any given instant and shows how it leads to guaranteed performance thus relaxing the more traditional periodic execution requirements.
Abstract: In this note, we revisit the problem of scheduling stabilizing control tasks on embedded processors. We start from the paradigm that a real-time scheduler could be regarded as a feedback controller that decides which task is executed at any given instant. This controller has for objective guaranteeing that (control unrelated) software tasks meet their deadlines and that stabilizing control tasks asymptotically stabilize the plant. We investigate a simple event-triggered scheduler based on this feedback paradigm and show how it leads to guaranteed performance thus relaxing the more traditional periodic execution requirements.
3,695 citations
"Event triggered control of singular..." refers background in this paper
...Model-Based Event Triggered Control In the majority of event-triggered control systems in the literature, the controller is a typical sampled data controller which generates a piece-wise constant input by keeping the received measurements constant till the arrival of new measurements at the next sampling instant [3], [16]....
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...Event triggered control (ETC) see [3] to [7] and Model-based network control (MBNC) proposed in [8] proved to be very effective in dealing with restricted bandwidth....
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Book•
01 Jan 1986TL;DR: This SIAM Classics edition of the 1986 book, the original text is reprinted in its entirety (along with a new preface), providing once again the theoretical foundation for representative control applications.
Abstract: From the Publisher:
Singular perturbations and time-scale techniques were introduced to control engineering in the late 1960s and have since become common tools for the modeling, analysis, and design of control systems. In this SIAM Classics edition of the 1986 book, the original text is reprinted in its entirety (along with a new preface), providing once again the theoretical foundation for representative control applications.
This book continues to be essential in many ways. It lays down the foundation of singular perturbation theory for linear and nonlinear systems, it presents the methodology in a pedagogical way that is not available anywhere else, and it illustrates the theory with many solved examples, including various physical examples and applications. So while new developments may go beyond the topics covered in this book, they are still based on the methodology described here, which continues to be their common starting point.
Audience
Control engineers and graduate students who seek an introduction to singular perturbation methods in control will find this text useful. The book also provides research workers with sketches of problems in the areas of robust, adaptive, stochastic, and nonlinear control. No previous knowledge of singular perturbation techniques is assumed.
About the Authors
Petar Kokotovic is Director of the Center for Control Engineering and Computation at the University of California, Santa Barbara. Hassan K. Khalil is Professor of Electrical and Computer Engineering at Michigan State University. John O'Reilly is Professor of Electronics and Electrical Engineering at the University of Glasgow, Scotland.
2,446 citations
TL;DR: A novel control strategy for multi-agent coordination with event-based broadcasting is presented, in which each agent decides itself when to transmit its current state to its neighbors and the local control laws are based on these sampled state measurements.
1,077 citations
"Event triggered control of singular..." refers methods in this paper
...Time dependent triggering rules [17], [18] are adopted....
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TL;DR: An upper bound of the difference between both loops is derived, which shows that the approximation of the continuous state-feedback loop by the event-based control loop can be made arbitrarily tight by appropriately choosing the threshold parameter of the event generator.
994 citations
TL;DR: The main methodologies suggested in the literature to cope with typical network-induced constraints, namely time delays, packet losses and disorder, time-varying transmission intervals, competition of multiple nodes accessing networks, and data quantization are surveyed.
Abstract: Networked control systems (NCSs) have, in recent years, brought many innovative impacts to control systems. However, great challenges are also met due to the network-induced imperfections. Such network-induced imperfections are handled as various constraints, which should appropriately be considered in the analysis and design of NCSs. In this paper, the main methodologies suggested in the literature to cope with typical network-induced constraints, namely time delays, packet losses and disorder, time-varying transmission intervals, competition of multiple nodes accessing networks, and data quantization are surveyed; the constraints suggested in the literature on the first two types of constraints are updated in different categorizing ways; and those on the latter three types of constraints are extended.
989 citations