Efficiently Attentive Event-Triggered Systems With Limited Bandwidth

Abstract

Event-triggered systems sample and transmit data when a state dependent criterion is violated. Many event-triggered systems are efficiently attentive, i.e., longer inter-sampling intervals are achieved as the system gets closer to its equilibrium. This property allows event-triggered systems to use fewer communication resources since control systems are usually operated around their equilibria. Efficient attentiveness, however, is not a necessary property of all event-triggered systems. To ensure efficient attentiveness, this technical note proposes an approach to design event triggers and quantization maps for nonlinear systems with transmission delays. We present sufficient conditions to guarantee input-to-state stability (ISS) of the resulting systems without exhibiting Zeno behavior.