Experimental validation of an event-triggered policy for remote sensing and control with performance guarantees

摘要

There has been a surge of interest in event-triggered control in recent years, and many event-triggered control methods are now available in the literature. As the theory matures, there is a need to experimentally validate and test these methods in applications of interest. In this paper, we extend and experimentally validate an event-triggered control strategy presented in [1] for the remote point stabilization problem for a ground robot. This strategy specifies when transmissions should occur in both sensor-controller and controller-actuator channels, and guarantees a bound on performance measured by a finite-horizon quadratic cost. The experimental results are coherent with the simulation results and reveal that event-triggered control leads to a tremendous data transmission reduction (up to 90%) with respect to period control, with a minor performance loss.