Periodic event‐triggered observation and control for nonlinear Lipschitz systems using impulsive observers |
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| Authors: | Lucien Etienne Stefano Di Gennaro Jean‐Pierre Barbot |
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| Affiliation: | 1. Department of Information Engineering, Computer Science and Mathematics, University of L'Aquila, L'Aquila, Italy;2. Center of Excellence DEWS, University of L'Aquila, L'Aquila, Italy;3. Quartz EA 7393, école nationale supérieure de l'électronique et de ses applications, Cergy–Pontoise, France;4. EPI Non‐A, INRIA Lille, Nord–Europe, Villeneuve‐d'Ascq, France |
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| Abstract: | In this paper, we investigate the observation and stabilization problems for a class of nonlinear Lipschitz systems, subject to network constraints, and partial state knowledge. In order to address these problems, an impulsive observer is designed, making use of the event‐triggered technique in order to diminish the network communications. Sufficient conditions are given to ensure a milder version of the separation principle for these systems, controlled via an event‐triggered controller. The proposed observer ensures practical state estimation, while the corresponding dynamic controller ensures practical stabilization. The sampling and the data transmission are carried out asynchronously. The dynamic controller is tested in simulation on a flexible joint. Copyright © 2017 John Wiley & Sons, Ltd. |
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| Keywords: | observer based control nonlinear systems event triggered sampling impulsive observer |
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