Greedy Synthesis of Event- and Self-Triggered Controls with Control Lyapunov-Barrier Function

Autor:	Kishida, Masako
Rok vydání:	2023
Předmět:	Electrical Engineering and Systems Science - Systems and Control Computer Science - Robotics Mathematics - Dynamical Systems
Druh dokumentu:	Working Paper
Popis:	This paper addresses the co-design problem of control inputs and execution decisions for event- and self-triggered controls subject to constraints given by the control Lyapunov function and control barrier function. The proposed approach computes the control input in a way that allows for longer inter-execution intervals, which distinguishes it from many existing event- and self-triggered controllers or control Lyapunov-barrier function controllers. The proposed approach guarantees lower bounds on the minimum inter-execution times. The effectiveness of the proposed approach is demonstrated and compared with existing approaches using a numerical example. Comment: The paper is under review
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2302.12435 Zobrazit plný text záznamu View this record from Arxiv