Event-triggered observers and observer-based controllers for a class of nonlinear systems

Etienne Lucien 1, 2 Stefano Di Gennaro 1 Jean-Pierre Barbot 3, 2
3 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : In this paper, we investigate the stabilization of a nonlinear plant subject to network constraints, under the assumption of partial knowledge of the plant state. The event triggered paradigm is used for the observation and the control of the system. Necessary conditions, making use of the ISS property, are given to guarantee the existence of a triggering mechanism, leading to asymptotic convergence of the observer and system states. The proposed triggering mechanism is illustrated in the stabilization of a robot with a flexible link robot.
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Etienne Lucien, Stefano Di Gennaro, Jean-Pierre Barbot. Event-triggered observers and observer-based controllers for a class of nonlinear systems. American Control Conference, Jul 2015, Chicago, United States. ⟨10.1109/ACC.2015.7172072⟩. ⟨hal-01195569⟩

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