tailieunhanh - Output-Based Event-Triggered Control With Guaranteed -Gain and Improved and Decentralized Event-Triggering

If your route can be organised as a predominantly self-guided walk this means you don’t need so many marshals or signs. This reduces the cost, time and effort spent putting up signs. However, large, mass- participation events do need highly visible marshals and may well need signs placed at strategic points to keep people on the right route. If you want to put up signs you’ll need to get approval from the local authority. If the route is mostly self-guided everyone should be given a clear map. Sections through parks and green spaces may need additional marshals to help point. | 1362 IEEE TRANSACTIONS ON AUTOMATIC CONTROL VOL. 57 NO. 6 JUNE 2012 Output-Based Event-Triggered Control With Guaranteed Loo-Gain and Improved and Decentralized Event-Triggering M. C. F Donkers Member IEEE and W. P. M. H. Heemels Senior Member IEEE Abstract Most event-triggered controllers available nowadays are based on static state-feedback controllers. As in many control applications full state measurements are not available for feedback it is the objective of this paper to propose event-triggered dynamical output-based controllers. The fact that the controller is based on output feedback instead of state feedback does not allow for straightforward extensions of existing event-triggering mechanisms if a minimum time between two subsequent events has to be guaranteed. Furthermore since sensor and actuator nodes can be physically distributed centralized event-triggering mechanisms are often prohibitive and therefore we will propose a decentralized event-triggering mechanism. This event-triggering mechanism invokes transmission of the outputs in a node when the difference between the current values of the outputs in the node and their previously transmitted values becomes large compared to the current values and an additional threshold. For such event-triggering mechanisms we will study closed-loop stability and 00-performance and provide bounds on the minimum time between two subsequent events generated by each node the so-called inter-event time of a node. This enables us to make tradeoffs between closed-loop performance on the one hand and communication load on the other hand or even between the communication load of individual nodes. In addition we will model the event-triggered control system using an impulsive model which truly describes the behavior of the event-triggered control system. As a result we will be able to guarantee stability and performance for event-triggered controllers with larger minimum inter-event times than the existing results in the .