Periodic event-triggered dual-rate control for a networked control system

Abstract

In this work, a Periodic Event-Triggered Sampling (PETS) strategy is implemented in a Networked Control System (NCS), which uses a gain-scheduled dual-rate PD controller in order to deal with time-varying network-induced delays and packet disorder. Compared to the Time-Triggered Sampling (TTS) strategy, this control solution is able to reduce network utilization (number of transmissions), while still guaranteeing control performance. Simulation and experimental results of an Unmanned Aerial Vehicle (UAV) illustrate the main benefits of the approach.