Jorge Cortés


Event-triggered control for nonlinear systems with time-varying input delay
E. Nozari, P. Tallapragada, J. Cortés
Proceedings of the IEEE Conference on Decision and Control, Las Vegas, Nevada, USA, 2016, pp. 495-500


This paper studies the problem of event-triggered control design for general continuous-time nonlinear systems with time-varying input delay. Our methodology is based on the concept of predictor feedback and is capable of compensating arbitrarily large known time delays. Under mild conditions, we prove that as long as the delay-free system is globally input-to-state stabilizable, it can also be globally asymptotically stabilized via piecewise-constant event-triggered control. We prove that the proposed event-triggering design does not suffer from Zeno behavior as the inter-event times are uniformly lower bounded. We further show that our design achieves exponential stability for a controllable linear system and study the trade-off between convergence speed and communication cost. Various simulations illustrate our results.

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