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On Lyapunov sampling for event-driven controllers
Velasco García, Manel; Martí Colom, Pau; Bini, Enrico
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. GRINS - Robòtica Intel·ligent i Sistemes
This paper investigates an event condition for event-driven controllers based on Lyapunov functions. Considering that constant values of a Lyapunov function define contour curves that form closed regions around the equilibrium point, in this paper we present a sampling mechanism that enforces job executions (sampling, control algorithm computation and actuation) each time the system trajectory reaches a given contour curve. By construction, the sequence of generated samples is stable in the discrete Lyapunov sense. However, in order to ensure that the system trajectory will tend to zero as time tends to infinity, it must be ensured that the sequence of samples is infinite. We provide conditions to ensure this property. The approach is illustrated by simulated examples.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Lyapunov functions
Automatic control
Control automàtic
Lyapunov, Funcions de
Controladors programables
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