Subpredictor approach for event-triggered control of discrete-time systems with input delays *

We propose a new output event-triggered control design for linear discrete-time systems with constant arbitrarily long input delays, using delay compensating subpredictors. We prove input-to-state stability of the closed loop system, using framers and the theory of positive systems. A novel feature of our approach is our use of matrices of absolute values, instead of Euclidean norms, in our discrete-time event triggers for our delay compensating control design. We illustrate our approach using a model of the BlueROV2 marine vehicle, where our new event triggers lead to a smaller number of control recomputation times as compared with standard event triggers that were based on Euclidean norms, without sacrificing on settling times or on other performance metrics. (c) 2022 European Control Association. Published by Elsevier Ltd. All rights reserved.

Automated summary

This paper proposes a new output event-triggered control design for linear discrete-time systems with constant arbitrarily long input delays, using delay compensating subpredictors. The input-to-state stability of the closed loop system is proven by employing framers and the theory of positive systems. A novel feature of this approach is the use of matrices of absolute values instead of Euclidean norms in the discrete-time event triggers for delay compensating control design. The approach is illustrated using a model of the BlueROV2 marine vehicle, where the new event triggers result in fewer control recomputation times compared to standard event triggers based on Euclidean norms, without sacrificing settling times or other performance metrics.