Stabilization of nonlinear systems using event-triggered output feedback laws

Abstract

We design output-based event-triggered con- trollers to stabilize a class of nonlinear systems. We start from an output feedback law which stabilizes the plant in the absence of sampling and we then synthesize the event-triggering condition. The proposed event-triggering condition combines event-triggered and time-triggered techniques. The idea is to turn on the event-triggering mechanism only after a fixed amount of time has elapsed since the last transmission. This time is computed based on results on the stabilization of time-driven sampled-data systems. The overall strategy ensures an asymptotic stability property for the closed-loop system. Moreover, it has the advantage to enforce a (uniform) minimum amount of time between two transmissions which can be directly tuned. We show that the results are applicable to linear time- invariant systems as a particular case and we illustrate the approach for the stabilization of a nonlinear single-link robot arm model.