On event-triggered and self-triggered control using online optimization

Abstract

Event-triggered control and self-triggered control are an important control strategy in networked control systems. Event-triggered control is a control method that determines transmissions of the control input and the measured signal depending on measurement information. Self-triggered control is a control method that the control input and the (non-uniform) sampling interval are computed simultaneously. In this paper, we propose a new method of event-triggered control and self-triggered control from the viewpoint of optimal control. In self-triggered control, the control input and the sampling interval are obtained by solving a pair of a quadratic programming (QP) problem and a mixed integer linear programming (MILP) problem. In event-triggered control, the triggering condition is given by two QP problems. The effectiveness of the proposed methods is presented by numerical examples.