Robust Event-Triggered Control of Nonlinear Systems Under a Global Sector-Bound Condition

Abstract

This paper studies an event-triggered control problem for nonlinear systems subject to both external disturbances and dynamic uncertainties. It is assumed that the system satisfies a global sector-bound condition. To avoid infinitely fast sampling, a novel event-triggered sampling mechanism is proposed, which uses not only the measured system state but also an estimation of the influence of the disturbances. With the proposed design, the intersampling intervals can be lower bounded by a positive constant, and it is independent of both external disturbances and dynamic uncertainties. Moreover, the closed-loop event-triggered system is proved to be input-to-state stable with respect to the external disturbances. Advanced small-gain techniques are used for the stability analysis of the closed-loop system.