On the Design of Event-Triggered Suboptimal Controllers for Nonlinear Systems

In this paper, two suboptimal event-triggered control techniques are proposed for both the regulation and the tracking problems in a broad class of nonlinear networked control systems. The proposed techniques are based on the state-dependent Riccati equation (SDRE) methodology. In the case of the regulation problem, the asymptotic stability of the origin of the closed-loop system under the proposed event-triggered control law is investigated. In addition, for the tracking problem, it is proved that the tracking error between the system output and its desired trajectory converges asymptotically to zero under some mild conditions. It is shown that the proposed methods can considerably reduce the information exchange between the controller and the actuator. Due to the implementation procedures of the proposed techniques, no Zeno behavior is occurred. Three numerical simulations are provided to demonstrate the design procedure and the flexibility of the proposed event-triggered control techniques.