Paper Info
Title
On Event Triggered Tracking for Nonlinear Systems
Abstract
In this technical note, we study an event-based control algorithm for trajectory tracking in nonlinear systems. The desired trajectory is modelled as the solution of a reference system with an exogenous input and it is assumed that the desired trajectory and the exogenous input to the reference system are uniformly bounded. Given a continuous-time control law that guarantees global uniform asymptotic tracking of the desired trajectory, our algorithm provides an event-based controller that not only guarantees uniform ultimate boundedness of the tracking error, but also ensures non-accumulation of inter-execution times. In the case that the derivative of the exogenous input to the reference system is also uniformly bounded, an arbitrarily small ultimate bound can be designed. If the exogenous input to the reference system is piecewise continuous and not differentiable everywhere then the achievable ultimate bound is constrained and the result is local, though with a known region of attraction. The main ideas in the technical note are illustrated through simulations of trajectory tracking by a nonlinear system.
Year
DOI
Venue
2013
10.1109/TAC.2013.2251794
Automatic Control, IEEE Transactions
Keywords
DocType
Volume
continuous time systems,nonlinear control systems,sampled data systems,trajectory control,continuous-time control law,event-based control algorithm,exogenous input,global uniform asymptotic tracking,interexecution times,nonlinear systems,piecewise continuous reference system,reference system,tracking error,trajectory tracking,uniform ultimate boundedness,Event-triggered control,sampled-data control
Journal
58
Issue
ISSN
Citations 
9
0018-9286
76
PageRank 
References 
Authors
2.33
10
2
Name
Order
Citations
PageRank
Pavankumar Tallapragada118712.77
Nikhil Chopra273443.62