Noncooperative Event-Triggered Control Strategy Design With Round-Robin Protocol: Applications to Load Frequency Control of Circuit Systems

Abstract

In this paper, the noncooperative optimal control problem is investigated for a class of discrete time-varying networked control systems subject to exogenous nonlinear disturbances. To relive the transmission burden in the sensor-to-controller channel, the Round-Robin protocol is adopted to schedule the sensor transmissions. On the other hand, the controller operates in an event-triggered manner so as to reduce the transmission frequency and thereby preserving the energy in the controller-to-actuator channel. In the presence of the underlying scheduling and triggering mechanism, it is literally impossible to acquire the accurate value of the individual cost function for each controller and, as an effective alternative, a certain upper bound is derived on the individual cost function. Then, in virtue of the completing-the-square technique and the Moore–Penrose pseudo inverse, such an upper bound is minimized at each time instant. Furthermore, a sufficient condition is established to guarantee the boundedness of the derived upper bound over the infinite horizon. Finally, a numerical example on the power grid is provided to verify the validity of the proposed methodology.