2023/02/24 by Kishida, Masako
#Dynamical Systems (math.DS) #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2302.12435
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.