Event-triggered control for linear time-varying systems using a positive systems approach

This paper presents a new design for the event-triggered output feedback control of uncertain linear time-varying systems. Departing from the traditional treatments of event-triggered linear time-invariant systems, it is shown that factoring of fundamental solutions as products of solutions of matrix differential equations, together with small-gain arguments and the notions of interval observers and positive systems, lead to a new class of robust event-triggered output-feedback controllers. A key innovation is our use of new event triggers, which use vectors of absolute values instead of the usual Euclidean 2-norms. An illustrative example of a curve tracking system from marine robotics validates the efficacy of the proposed design scheme.