Event-Triggered Synergistic Controllers with Dwell-Time Transmission
Xuanzhi Zhu, Pedro Casau, Carlos Silvestre
TL;DR
The paper addresses energy-efficient control of nonlinear plants by integrating event-triggered control with stabilizing synergistic controllers. It develops a deparametrization-based framework and geometric conditions to guarantee dwell-time transmission and global asymptotic stability, even with joint jumps due to controller and event updates. The authors prove dwell-time for deparametrized hybrid arcs and provide a Lyapunov-based global stability analysis, then demonstrate the approach on rigid body attitude stabilization with numerical simulations. The results offer a systematic methodology for combining event-triggered and synergistic control in networked robotics while avoiding Zeno behavior. The work also introduces a constructive path for extending these ideas to other hybrid controllers.
Abstract
We propose novel event-triggered synergistic controllers for nonlinear continuous-time plants by incorporating event-triggered control into stabilizing synergistic controllers. We highlight that a naive application of common event-triggering conditions may not ensure dwell-time transmission due to the joint jumping dynamics of the closed-loop system. Under mild conditions, we develop a suite of event-triggered synergistic controllers that guarantee both dwell-time transmission and global asymptotic stability. Through numerical simulations, we demonstrate the effectiveness of our controller applied to the problem of rigid body attitude stabilization.