Model-Based Decentralized Dynamic Periodic Event-Triggered Control for Nonlinear Systems Subject to Packet Losses

This paper studies the problem of designing a model-based decentralized dynamic periodic event-triggering mechanism (DDPETM) for networked control systems (NCSs) subject to packet losses and external disturbances. Firstly, the entire NCSs, comprising the triggering mechanism, packet losses and output-based controller, are unified into a hybrid dynamical framework. Secondly, by introducing dynamic triggering variables, the DDPETM is designed to conserve network resources while guaranteeing desired performance properties and tolerating the maximum allowable number of successive packet losses. Thirdly, some stability conditions are derived using the Lyapunov approach. Differing from the zero-order-hold (ZOH) case, the model-based control sufficiently exploits the model information at the controller side. Between two updates, the controller predicts the plant state based on the models and received feedback information. With the model-based control, less transmission may be expected than with ZOH. Finally, numerical examples and comparative experiments demonstrate the effectiveness of the proposed method.