Event-Triggered Predictor-Based Control of Networked Systems With Input Delays

Modern wireless systems can accurately estimate network latencies; this information could help design better controllers for systems prone to large delays. In this letter, we consider the problem of event-triggered control of linear networked systems with known input delays and address it via hybrid system approach. Specifically, we design a predictor-based state observer that incorporates input delay and propagated outputs to estimate the future state of the system. Subsequently, this estimated state is utilized to generate control inputs for transmissions over the network. In order to reduce the number of transmissions, we design a dynamic event-triggering mechanism (ETM) which makes decisions on whether or not to transmit the control inputs at pre-defined instants. The ETM, by its design, is devoid of Zeno behavior.