Robustifying event-triggered control to measurement noise
Résumé
While many event-triggered control strategies are available in the literature, most of them are designed ignoring the presence of
measurement noise. As measurement noise is omnipresent in practice and can have detrimental eff ects, for instance, by inducing
Zeno behavior in the closed-loop system and with that the lack of a positive lower bound on the inter-event times, rendering
the event-triggered control design practically useless, it is of great importance to address this gap in the literature. To do so, we
present a general approach for set stabilization of (distributed) event-triggered control systems aff ected by additive measurement
noise. It is shown that, under general conditions, Zeno-free static as well as dynamic triggering rules can be designed such that the
closed-loop system satisfi es an input-to-state practical set stability property. We ensure Zeno-freeness by proving the existence of
a uniform strictly positive lower-bound on the minimum inter-event time. The general approach is applied to point stabilization
and consensus problems as particular cases, where we show that, under similar assumptions as the original work, existing schemes
can be redesigned to robustify them to measurement noise. Consequently, using this approach, noise-robust triggering conditions
can be designed both from the ground up and by simple redesign of several important existing schemes. Simulation results are
provided that illustrate the strengths of this novel approach.
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