Chaos and Order in Event-Triggered Control

Event-triggered control (ETC) is claimed to provide significant reductions in sampling frequency when compared to periodic sampling, but little is formally known about its generated traffic. This work shows that ETC can exhibit very complex, even chaotic traffic, especially when the triggering condition is aggressive in reducing...

Abstracting the Traffic of Nonlinear Event-Triggered Control Systems

Scheduling communication traffic in networks of event-triggered control (ETC) systems is challenging, as their sampling times are unknown, hindering application of ETC in networks. In previous work, finite-state abstractions were created, capturing the sampling behavior of linear time-invariant (LTI) ETC systems with quadratic triggering...

Computing the average inter-sample time of event-triggered control using quantitative automata

Event-triggered control (ETC) is a major recent development in cyber–physical systems due to its capability of reducing resource utilization in networked devices. However, while most of the ETC literature reports simulations indicating massive reductions in the sampling required for control, no method so far has been capable of quantifying...

Formal synthesis of closed-form sampled-data controllers for nonlinear continuous-time systems under STL specifications

We propose a counterexample-guided inductive synthesis framework for the formal synthesis of closed-form sampled-data controllers for nonlinear systems to meet STL specifications over finite-time trajectories. Rather than stating the STL specification for a single initial condition, we consider an (infinite and bounded) set of initial...

The Wireless Control Bus: Enabling Efficient Multi-Hop Event-Triggered Control with Concurrent Transmissions

Event-triggered control (ETC) holds the potential to significantly improve the efficiency of wireless networked control systems. Unfortunately, its real-world impact has hitherto been hampered by the lack of a network stack able to transfer its benefits from theory to practice specifically by supporting the latency and reliability...

Lyapunov event-triggered stabilization with a known convergence rate

A constructive tool of nonlinear control system design, the method of control Lyapunov functions (CLFs), has found numerous applications in stabilization problems for continuous-time, discrete-time, and hybrid systems. In this paper, we address the fundamental question: Given a CLF, corresponding to a continuous-time controller with some...

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

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...

Towards Traffic Bisimulation of Linear Periodic Event-Triggered Controllers

We provide a method to construct finite abstractions exactly bisimilar to linear systems under a modified periodic event-triggered control (PETC), when considering as output the inter-event times they generate. Assuming that the initial state lies on a known compact set, these finite-state models can exactly predict all sequences of sampling...

Scalable Traffic Models for Scheduling of Linear Periodic Event-Triggered Controllers

This paper addresses the problem of modeling and scheduling the transmissions generated by multiple event-triggered control (ETC) loops sharing a network. We present a method to build a finite-state similar model of the traffic generated by periodic ETC (PETC), which by construction mitigates the combinatorial explosion that is typical of...

Near optimal control with reachability and safety guarantees

Control systems designed via learning methods, aiming at quasi-optimal solutions, typically lack stability and performance guarantees. We propose a method to construct a near-optimal control law by means of model-based reinforcement learning and subsequently verifying the reachability and safety of the closed-loop control system through an...

Traffic models of periodic event-triggered control systems

Periodic event-triggered control (PETC) [13] is a version of event-triggered control that only requires the measurement of the plant output periodically instead of continuously. In this note, we present a construction of timing models for these PETC implementations to capture the dynamics of the traffic they generate. In the construction, we...

Decentralized periodic event-triggered control with quantization and asynchronous communication

Asynchronous decentralized event-triggered control (ADETC) Mazo Jr. and Cao (2014) is an implementation of controllers characterized by decentralized event generation, asynchronous sampling updates, and dynamic quantization. Combining those elements in ADETC results in a parsimonious transmission of information which makes it suitable for...

Optimal symbolic controllers determinization for BDD storage^⁎

Controller synthesis techniques based on symbolic abstractions appeal by producing correct-by-design controllers, under intricate behavioural constraints. Yet, being relations between abstract states and inputs, such controllers are immense in size, which makes them futile for embedded platforms. Control-synthesis tools such as PESSOA, SCOTS,...

Self-triggered output feedback control for perturbed linear systems

In this work we propose a Self-Triggered Control (STC) strategy for linear time-invariant (LTI) systems subject to bounded disturbances, using LTI discrete-time dynamic output-feedback. The STC logic computes worst-case triggering times from available information, based on a Periodic Event Triggered Control (PETC) triggering function. In the...

Communication schemes for centralized and decentralized event-triggered control systems

Energy constraint long-range wireless sensor/actuator-based solutions are theoretically the perfect choice to support the next generation of city-scale cyber-physical systems. Traditional systems adopt periodic control which increases network congestion and actuations while burdens the energy consumption. Recent control theory studies...