Dynamically Triggered Control for System Connected to Network With Permissible Imperfections

This article designs a novel dynamic triggering-based control methodology for nonlinear system connected to network. The network suffers from imperfections such as packet losses and delays which are deterrents to the stability of the system. The dynamic triggering mechanism ensures stability and allows computation of permissible values of packet losses and delay from: 1) sensor to the controller and 2) controller to the plant. A lower limit on dynamic inter-event time and boundedness of closed-loop error are analytically discussed for system stability. A comprehensive implementation of the proposed methodology for trajectory tracking by a robot manipulator prone to network imperfections presents its effectiveness.