A controller design method under infrequent, asynchronous sensing

Authors:
Fumin Zhang;Naomi Ehrich Leonard
Affiliations:
Princeton University, Mechanical and Aerospace Engineering, Princeton, NJ;Princeton University, Mechanical and Aerospace Engineering, Princeton, NJ
Venue:
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
Year:
2007

Citing 2
Cited 0

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Mathematical control theory: deterministic finite dimensional systems (2nd ed.)
Controller synthesis on non-uniform and uncertain discrete–time domains

HSCC'05 Proceedings of the 8th international conference on Hybrid Systems: computation and control

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Abstract

We use discrete quadratic Lyapunov functions to design controllers for a class of systems where time intervals between state measurements are longer than time intervals between control actions and different components of the state vector are not measured at the same time. The discrete Lyapunov function is a discretization of a continuous Lyapunov function assumed to be known for the idealized system. With this framework, we determine the maximum time interval between measurements of each state variable to guarantee the non-increasing property for the discrete Lyapunov function.