Uniformly Ultimate Boundedness Control with Decentralized Event-Triggering

SUMMARY Event-triggered control is a method that the control input is updated only when a certain condition is satisfied (i.e., an event occurs). In this paper, event-triggered control over a sensor network is studied based on the notion of uniformly ultimate boundedness. Since sensors are located in a distributed way, we consider multiple event-triggering conditions. In uniformly ultimate boundedness, it is guaranteed that if the state reaches a certain set containing the origin, the state stays within this set. Using this notion, the occurrence of events in the neighborhood of the origin is inhibited. First, the simultaneous design problem of a controller and event- triggering conditions is formulated. Next, this problem is reduced to an LMI (linear matrix inequality) optimization problem. Finally, the proposed method is demonstrated by a numerical example.