Abstract:
The efficient utilization of available resources while simultaneously achieving control objectives is a primary motivation in the event-triggered control paradigm. In man...Show MoreMetadata
Abstract:
The efficient utilization of available resources while simultaneously achieving control objectives is a primary motivation in the event-triggered control paradigm. In many modern control applications, one such objective is enforcing the safety of a system. The goal of this letter is to carry out this vision by combining event-triggered and safety-critical control design. We discuss how a direct transcription, in the context of safety, of event-triggered methods for stabilization may result in designs that are not implementable on real hardware due to the lack of a minimum interevent time. We provide an example showing this phenomena and, building on the insight gained, propose an event-triggered control approach via Input-to-State Safe Barrier Functions that achieves safety while ensuring that interevent times are uniformly lower bounded.
Published in: IEEE Control Systems Letters ( Volume: 5, Issue: 3, July 2021)