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Dynamic Triggering Mechanisms for Event-Triggered Control (1301.2182v3)

Published 10 Jan 2013 in cs.SY and math.OC

Abstract: In this paper, we present a new class of event triggering mechanisms for event-triggered control systems. This class is characterized by the introduction of an internal dynamic variable, which motivates the proposed name of dynamic event triggering mechanism. The stability of the resulting closed loop system is proved and the influence of design parameters on the decay rate of the Lyapunov function is discussed. For linear systems, we establish a lower bound on the inter-execution time as a function of the parameters. The influence of these parameters on a quadratic integral performance index is also studied. Some simulation results are provided for illustration of the theoretical claims.

Citations (1,295)

Summary

  • The paper proves asymptotic stability by employing a dynamic ETM with an enhanced Lyapunov function that includes an internal dynamic variable.
  • The paper demonstrates that dynamic ETMs yield longer inter-execution times than static methods through adjustable decay rates in linear systems.
  • The paper provides simulation results and parameter tuning guidelines that highlight improved control performance and efficient resource management.

Dynamic Triggering Mechanisms for Event-Triggered Control

The paper, "Dynamic Triggering Mechanisms for Event-Triggered Control" by Antoine Girard, introduces a novel method for event-triggered control systems through the development of dynamic event triggering mechanisms (ETMs). This departure from traditional static ETMs allows for a more efficient management of computational and communication resources in cyber-physical systems. The dynamic ETM incorporates an additional internal dynamic variable, which provides a mechanism to potentially reduce unnecessary workload in control systems by effectively tuning the decay rate of the Lyapunov function.

Introduction to Dynamic ETMs

Event-triggered control systems typically observe state variables and apply control inputs only when specific events occur, contrasting the periodic updates in traditional time-triggered control systems. The proposed dynamic ETM incorporates an internal dynamic variable—a filtered version of the static trigger signal. This alteration aims to average out stability conditions over time rather than requiring instantaneous satisfaction, thereby adding more flexibility to the system's operation.

Core Contributions and Results

Stability Analysis

One of the primary theoretical contributions of the paper is the proof of asymptotic stability for closed-loop systems utilizing dynamic ETMs. This is established via an enhanced Lyapunov function that incorporates both the system state and the dynamic triggering variable. A key result of the paper is the demonstration that the minimum inter-execution time for dynamic ETMs is at least as large as for static ETMs. This suggests that dynamic ETMs can achieve similar or improved efficiency in resource usage without compromising system stability.

Linear Systems

Special consideration is given to linear systems where the behavior of dynamic ETMs is more rigorously analyzed. For linear systems, the paper proves that the decay rate of the Lyapunov function can be adjusted and the inter-execution time can be explicitly related to design parameters. This analysis shows that, under certain conditions, dynamic ETMs provide a higher lower bound on inter-execution times compared to their static counterparts, enhancing predictability and reducing computational load.

Parameter Tuning

The paper also includes a detailed discussion on the choice of design parameters for dynamic ETMs. By carefully selecting parameters, the decay rate of the Lyapunov function can be finely tuned. Additionally, the relationship between these parameters and the inter-execution times is elucidated, guiding practitioners on how to balance system performance with efficient resource utilization.

Simulation Results

The efficacy of the proposed mechanisms is illustrated through simulation results. These simulations demonstrate that dynamic ETMs can sustain longer inter-execution times while maintaining stability and performance close to the "ideal" system (where errors are minimal). This is evidenced by the simulation comparisons with existing static ETMs and alternative dynamic schemes, which show that the proposed dynamic ETM achieves a good compromise between maximizing inter-execution times and minimizing variations in system performance.

Implications and Future Directions

The introduction of dynamic ETMs holds significant practical implications. By reducing the frequency of control updates without sacrificing stability, dynamic ETMs can lead to more efficient use of computational and communication resources. This is particularly relevant in decentralized, output-based, or periodic event-triggered control systems, as well as in the design of self-triggered control algorithms.

Looking forward, further research could explore the integration of dynamic ETMs into larger, networked control systems, thereby addressing the scalability of such mechanisms. Additionally, experimental validation on physical cyber-physical systems could provide more insights into real-world applications and performance characteristics.

Conclusion

This paper contributes to the field of event-triggered control by presenting a robust framework for the implementation of dynamic ETMs. The theoretical analyses anchored by strong numerical results underline the potential of dynamic ETMs in enhancing the efficiency and predictability of control systems. The rigorous proof of stability, coupled with practical insights into parameter tuning, provides a solid foundation for future advancements in this area.