Self-triggered output-feedback control of LTI systems subject to disturbances and noise

Journal article (2020)

Authors

G. de Albuquerque Gleizer Team Tamas Keviczky - Mechanical, Maritime and Materials Engineering
M. Mazo Team Tamas Keviczky - Mechanical, Maritime and Materials Engineering
Research Group
Team Tamas Keviczky (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2020 G. de Albuquerque Gleizer, M. Mazo
DOI: https://doi.org/10.1016/j.automatica.2020.109129
Control systems State estimation Linear systems Digital control Bounded disturbances Bounded noise Dynamic output feedback Networked control Self-triggered control
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Published Date

2020

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Tamas Keviczky

Abstract

Self-triggered control (STC) and periodic event-triggered control (PETC) are aperiodic sampling techniques aiming at reducing control data communication when compared to periodic sampling. In both techniques, the effects of measurement noise in continuous-time systems with output feedback are unaddressed. In this work we prove that additive noise does not hinder stability of output-feedback PETC of linear time-invariant (LTI) systems. Then we build an STC strategy that estimates PETC's worst-case triggering times. To accomplish this, we use set-based methods, more specifically ellipsoidal sets, which describe uncertainties on state, disturbances and noise. Ellipsoidal reachability is then used to predict worst-case triggering condition violations, ultimately determining the next communication time. The ellipsoidal state estimate is recursively updated using guaranteed state estimation (GSE) methods. The proposed STC is designed to be computationally tractable at the expense of some added conservatism. It is expected to be a practical STC implementation for a broad range of applications.