Design of Event-Triggered State-Constrained Stabilizing Controllers for Nonlinear Control Systems

Abstract

This paper addresses the event-triggered stabilization problem for nonlinear control-affine systems under state constraints. First, a strong control Lyapunov barrier function (CLBF) method is applied for constructing continuous state-constrained stabilizing controllers. Additionally, sufficient conditions for the existence of strong CLBFs are derived. With the obtained state-constrained feedback laws, a new event-triggered policy is proposed for reducing the number of communication events without the input-to-state stability (ISS) assumption. It is proved that the Zeno behavior is excluded under this event-triggered policy, that is, the inter-execution times are lower bounded away from zero. Finally, two examples are included to illustrate the theoretical results.

Keywords

• Control Lyapunov functions
• control Lyapunov barrier functions
• event-triggered
• state constraint
• state feedback
• nonlinear systems