SCIENCE CHINA Information Sciences, Volume 63 , Issue 5 : 150211(2020) https://doi.org/10.1007/s11432-019-2654-y

Lyapunov-based event-triggered control for nonlinear plants subject to disturbances and transmission delays

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  • ReceivedApr 17, 2019
  • AcceptedSep 16, 2019
  • PublishedMar 27, 2020


This paper studies event-triggered control for disturbed nonlinear systems. A new dual-stage Lyapunov-based event-triggering condition is proposed to cope with the time-varying transmission delays. In the first stage, the ratio of Lyapunov function values at the last two triggering instants is calculated. Then based on the ratio, the corresponding threshold function is selected from two candidate forms. It is proved that the designed event-triggered control system is input-to-state practically stable with respect to the measurement errors and disturbances. Moreover, Zeno behavior is excluded successfully by calculating the lower bound of the minimum inter-event times. Finally, a simulation example is provided to show the feasibility and the effectiveness of the proposed approach.


This work was supported by National Natural Science Foundation of China (Grant Nos. 61573036, 61174057).


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  • Figure 1

    Configuration of the event-triggered control with disturbances and transmission delays.

  • Figure 2

    Two cases in the trajectory of $V(t)$.

  • Table 1   Comparison of different schemes
    Scheme Eq. (20) MATI [1] Event-triggering [37] Self-triggering [39]
    Average periods (s) 0.36 0.0169 $<10^{-5}$ 0.1782
  • Table 2   The impact of ratio $\lambda$ on the method of () and
    Scheme $\lambda$ Average periods (s) Events of (7a) Events of (7b)
    [32] 2 0.307 116 15
    (6) 2 0.333 119 1
    [32] 1.2 0.272 107 39
    (6) 1.2 0.328 116 5
    [32] 1.1 0.221 106 76
    (6) 1.1 0.345 108 8

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