Systematic Design of Robust Event-Triggered State and Output Feedback Controllers for Uncertain Nonholonomic Systems

Pengpeng Zhang, Tengfei Liu, Zhong Ping Jiang

Research output: Contribution to journalArticlepeer-review

Abstract

This article studies the event-triggered control problem for nonholonomic systems in the chained form with disturbances and drift uncertain nonlinearities. Both the cases of state-feedback and output-feedback are investigated. To address the effects of nonholonomic constraints in event-triggered control, a new systematic design integrating a state-scaling technique and set-valued maps are proposed. A crucial strategy is to transform the event-triggered control system into an interconnection of multiple input-to-state stable systems, to which the cyclic-small-gain theorem is applied for event-based controller synthesis. It is shown that the cyclic-small-gain-based design scheme leads to Zeno-free event-triggered controllers. For the output-feedback case, a new nonlinear observer is designed to deal with the sampling errors. Interestingly, the obtained results are new even if the plant model is disturbance-free. Both numerical and experimental results validate the efficiency of the proposed cyclic-small-gain-based event-triggered control methodology.

Original languageEnglish (US)
Article number9044333
Pages (from-to)213-228
Number of pages16
JournalIEEE Transactions on Automatic Control
Volume66
Issue number1
DOIs
StatePublished - Jan 2021

Keywords

  • Disturbances
  • event-triggered control
  • global asymptotic regulation
  • nonholonomic systems
  • uncertainties

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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