A novel approach to periodic event-triggered control: Design and application to the inverted pendulum.
In this paper, periodic event-triggered controllers are proposed for the rotary inverted pendulum. The control strategy is divided in two steps: swing-up and stabilization. In both cases, the system is sampled periodically but the control actions are only computed at certain instances of time (based on events), which are a subset of the sampling times. For the stabilization control, the asymptotic stability is guaranteed applying the Lyapunov-Razumikhin theorem for systems with delays. This result is applicable to general linear systems and not only to the inverted pendulum. For the swing-up control, a trigger function is provided from the derivative of the Lyapunov function for the swing-up control law. Experimental results show a significant improvement with respect to periodic control in the number of control actions.
Department of Computer Science and Automatic Control, Universidad Nacional de Educación a Distancia (UNED), c/Juan del Rosal 16, 28040 Madrid, Spain. Electronic address: earandae@bec.uned.es.
Ernesto
E
Aranda-Escolástico
Department of Computer Science and Automatic Control, Universidad Nacional de Educación a Distancia (UNED), c/Juan del Rosal 16, 28040 Madrid, Spain. Electronic address: mguinaldo@dia.uned.es.
María
M
Guinaldo
Department of Systems Engineering and Automatic Control, Universidad de Sevilla, Camino de los Descubrimients s/n, 41092 Sevilla, Spain. Electronic address: gordillo@us.es.
Francisco
F
Gordillo
Department of Computer Science and Automatic Control, Universidad Nacional de Educación a Distancia (UNED), c/Juan del Rosal 16, 28040 Madrid, Spain. Electronic address: sdormido@dia.uned.es.
Sebastián
S
Dormido
Event-based control; Lyapunov methods; Networked control systems; Stability analysis