An event-triggered policy for remote sensing and control with performance guarantees

Abstract

We consider a networked control system in which a remote controller queries the plant's sensors for measurement data and decides when to transmit control inputs to the plant's actuators. The goal is to keep transmissions to a minimum while guaranteeing that the closed-loop performance is within acceptable bounds. Our approach extends a recent line of research where explicit event-triggered control policies with performance guarantees are derived using approximate dynamic programming. The proposed policy in this new setting can be separated into an offline scheme for sensor query in which the transmission instances are computed a priori and an online scheme to schedule control input transmissions. The usefulness of the results is illustrated through two numerical examples.