Dynamic Event-Triggered Control for Nonlinear Systems: A Small-Gain Approach

An event-triggered control (ETC) system transmits data packages and updates control inputs only when the predefined criterion is satisfied. In this way, network communication and computing resources are scheduled more reasonably in contrast to the traditional periodic sampling strategy. Small-gain approach proposed in recent literatures is a new modeling method to deal with nonlinear ETC systems. Different from traditional ETC models, stability criteria are proposed in the form of input to state stability (ISS) gain to design the triggering mechanisms. This paper introduces additional dynamic variables in this model and proposes a small-gain based dynamic event-triggered strategy. Sufficient conditions to guarantee the stability of the system are derived with the help of cyclic-small-gain theorem and Zeno behaviors are avoided to ensure the feasibility of this method in practical applications. Numerical simulations are given to demonstrate the effectiveness of our approach.