Event-Triggering in Distributed Networked Control Systems

Abstract

This paper examines event-triggered data transmission in distributed networked control systems with packet loss and transmission delays. We propose a distributed event-triggering scheme, where a subsystem broadcasts its state information to its neighbors only when the subsystem's local state error exceeds a specified threshold. In this scheme, a subsystem is able to make broadcast decisions using its locally sampled data. It can also locally predict the maximal allowable number of successive data dropouts (MANSD) and the state-based deadlines for transmission delays. Moreover, the designer's selection of the local event for a subsystem only requires information on that individual subsystem. Our analysis applies to both linear and nonlinear subsystems. Designing local events for a nonlinear subsystem requires us to find a controller that ensures that subsystem to be input-to-state stable. For linear subsystems, the design problem becomes a linear matrix inequality feasibility problem. With the assumption that the number of each subsystem's successive data dropouts is less than its MANSD, we show that if the transmission delays are zero, the resulting system is finite-gain <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Lp</i> stable. If the delays are bounded by given deadlines, the system is asymptotically stable. We also show that those state-based deadlines for transmission delays are always greater than a positive constant.