Simple Lyapunov Sampling for Event-Driven Control

Sylvain Durand 1 Nicolas Marchand 2 Jose Fermi Guerrero Castellanos 3
1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
2 GIPSA-SYSCO - SYSCO
GIPSA-DA - Département Automatique
Abstract : In this paper, a simple Lyapunov sampling is proposed. Contrary to a periodic fashion which samples the system uniformly in time, an event-based scheme updates the control signal only when the system trajectory sufficiently changes. Furthermore, the present triggering mechanism is based on a Lyapunov function in order to enforce the events only when required from a stability point of view. Nevertheless, whereas the Lyapunov sampling mechanism initially introduced in Velasco et al. (2009) requires to execute a computationally heavy off-line algorithm, a fully on-line version is developed in this paper. The different approaches are tested (in simulation and practice) to show the efficiency of such an event-based control and, eventually, the performance remains ensured even if the constraint on the stability is relaxed.
Type de document :
Communication dans un congrès
18th IFAC World Congress (IFAC WC 2011), Aug 2011, Milan, Italy. Proceedings of the 18th IFAC World Congress, 7 p., 2011
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Sylvain Durand, Nicolas Marchand, Jose Fermi Guerrero Castellanos. Simple Lyapunov Sampling for Event-Driven Control. 18th IFAC World Congress (IFAC WC 2011), Aug 2011, Milan, Italy. Proceedings of the 18th IFAC World Congress, 7 p., 2011. 〈hal-00568102v2〉

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