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Self-triggered Control for Nonlinear Systems: A New Design Scenario From the Control Signal Perspective

In this paper, we consider the self-triggered control (STC) problem for a class of nonlinear systems. Different from the existing results, we provide a new simple yet effective scenario to design the event-triggered control (ETC) and STC conditions from the control signal perspective, i.e. only based on the change of the control signals. In this way, the measurement error caused by the ETC and STC conditions can be seen as a matched disturbance, thus it can be effectively compensated by carefully designing the controller. With this mechanism, the commonly used input-to-state stability (ISS) assumption with respect to the measurement errors is successfully removed. Two different strategies, i.e. the fixed threshold strategy and the relative threshold strategy, are discussed, and the system stability is proved through Lyapunov analysis.