Chapter Three - Adaptive Stabilization of Uncertain Systems With Model-Based Control and Event-Triggered Feedback Updates

Abstract

This chapter considers the problem of stabilization of uncertain systems where feedback measurements are transmitted through a limited bandwidth communication network. An adaptive model-based event-triggered control framework is presented where a model of the plant dynamics is implemented in the controller node which provides estimates of the plant states between event-based measurement updates. Further, a sensor collocated Kalman filter is employed to estimate the plant parameters, which are also transmitted to the controller node and upgrade the plant model. The adaptive model-based event-triggered control framework provides significant improvement in terms of network utilization by allowing longer time intervals between updates. This chapter focuses on several applications where the adaptive model-based event-triggered control framework is used to stabilize uncertain dynamical systems by estimating unknown system parameters and disturbances while minimizing network communication.