An Improved Co-Design Method of Dynamical Controller and Asynchronous Integral-Type Event-Triggered Mechanisms
针对受外部扰动和测量噪声影响的线性系统，提出一种动态控制器与异步积分型事件触发机制的协同设计方法，在避免Zeno行为的同时节省通信资源，并实现鲁棒性与资源占用率的权衡。
This article addresses an improved co-design method of dynamical controller and asynchronous integral-type event-triggered mechanisms (ETMs) for a class of linear systems with external disturbances and measurement noises. First, a dynamical controller is designed for a linear disturbed plant, and two independent integral-type ETMs are synthesized to be embedded in the plant output and control input channels. Then, an augmented hybrid system is constructed, in which the integral-type ETMs in the two channels are not required to be activated synchronously and both channels are affected by their measurement noises. The proposed asynchronous integral-type event-triggered control (IT-ETC) scheme for two-fold signal transmissions can not only avoid the Zeno behavior strictly, but save more communication resources than the static event-triggered control (S-ETC) strategy. Moreover, a criterion is provided to guarantee that the hybrid system is <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${\mathcal {L}}_{2}$ </tex-math></inline-formula> stable, and an improved co-design method is further synthesized to simultaneously obtain the design parameters of ETMs and feasible solutions of the dynamical controller. As a result, a tradeoff can be achieved between the robustness of the control system and the occupancy rate of communication resources. Compared with the S-ETC strategy, the simulation results have illustrated the effectiveness and superiority of the proposed asynchronous IT-ETC scheme.