An event-triggered observation scheme for systems with perturbations and data rate constraints

In this paper, an event-triggered observation scheme is considered for a perturbed nonlinear dynamical system connected to a remote location via a communication channel, which can only transmit a limited amount of data per unit of time. The dynamical system, which is supposed to be globally Lipschit...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 145; p. 110512
Main Authors Voortman, Quentin, Efimov, Denis, Pogromsky, Alexander Yu, Richard, Jean-Pierre, Nijmeijer, Henk
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.11.2022
Elsevier
Subjects
Automatic Control Engineering
Communication network
Computer Science
Events
Limited data
Nonlinear systems
Observers
Observers
Communication network
Limited data
Events
Nonlinear systems
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Summary:In this paper, an event-triggered observation scheme is considered for a perturbed nonlinear dynamical system connected to a remote location via a communication channel, which can only transmit a limited amount of data per unit of time. The dynamical system, which is supposed to be globally Lipschitz, is subject to bounded state perturbations. Moreover, at the system’s location, the output is measured with some bounded errors. The objective is to calculate estimates of the state at the remote location in real-time with maximum given error, whilst using the communication channel as little as possible. An event-triggered communication strategy is proposed in order to reduce the average number of communications. An important feature of this strategy is to provide an estimation of the relation between the observation error and the communication rate. The observation scheme’s efficiency is demonstrated through simulations of unicycle-type robots.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2022.110512