QSR-Dissipativity and Passivity Analysis of Event-Triggered Networked Control Cyber-Physical Systems

Input feed-forward output feedback passive (IF-OFP) systems define a great number of dynamical systems. In this report, we show that dissipativity and passivity-based control combined with event-triggered networked control systems (NCS) provide a powerful platform for the design of cyber-physical systems (CPS). We propose QSR-dissipativity, passivity and L2 stability conditions for an event-triggered networked control system in three cases where: (i) an input-output event-triggering sampler condition is located on the plant's output side, (ii) an input-output event-triggering sampler condition is located on controller's output side, (iii) input-output event-triggering sampler conditions are located on the outputs of both the plant and controller. We will show that this leads to a large decrease in communicational load amongst sub-units in networked control structures. We show that passivity and stability conditions depend on passivity levels for the plant and controller. Our results also illustrate the trade-off among passivity levels, stability, and system's dependence on the rate of communication between the plant and controller.

[1]  Peter L. Lee,et al.  Process Control: The Passive Systems Approach , 2010 .

[2]  Petter Ögren,et al.  Cooperative control of mobile sensor networks:Adaptive gradient climbing in a distributed environment , 2004, IEEE Transactions on Automatic Control.

[3]  Daniel Liberzon,et al.  Quantized feedback stabilization of linear systems , 2000, IEEE Trans. Autom. Control..

[4]  Stephen P. Boyd,et al.  Future directions in control in an information-rich world , 2003 .

[5]  Ricardo G. Sanfelice,et al.  Input-output triggered control using Lp -stability over finite horizons , 2015 .

[6]  Paulo Tabuada,et al.  Event-Triggered and Self-Triggered Control , 2015, Encyclopedia of Systems and Control.

[7]  Michael D. Lemmon,et al.  Event-Triggered Feedback in Control, Estimation, and Optimization , 2010 .

[8]  J. Willems.  Dissipative dynamical systems part I: General theory , 1972 .

[9]  Panos J. Antsaklis,et al.  Robust stability and disturbance attenuation analysis of a class of networked control systems , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[10]  Sandra Hirche,et al.  Human-Oriented Control for Haptic Teleoperation , 2012, Proceedings of the IEEE.

[11]  P. Moylan,et al.  The stability of nonlinear dissipative systems , 1976 .

[12]  Kaoru Sezaki,et al.  The evaluation of delay jitter for haptics collaboration over the Internet , 2002, Global Telecommunications Conference, 2002. GLOBECOM '02. IEEE.

[13]  Panos J. Antsaklis,et al.  Event-triggered output feedback control for networked control systems using passivity: Achieving L2 stability in the presence of communication delays and signal quantization , 2013, Autom..

[14]  Panos J. Antsaklis,et al.  Passivity indices and passivation of systems with application to systems with input/output delay , 2014, 53rd IEEE Conference on Decision and Control.

[15]  Panos J. Antsaklis,et al.  Control and Communication Challenges in Networked Real-Time Systems , 2007, Proceedings of the IEEE.

[16]  Anton Cervin,et al.  Event-Based Control over Networks: Some Research Questions and Preliminary Results , 2006 .

[17]  Panos J. Antsaklis,et al.  On guaranteeing passivity and performance with a human controller , 2015, 2015 23rd Mediterranean Conference on Control and Automation (MED).

[18]  W. P. M. H. Heemels,et al.  Output-based event-triggered control with Guaranteed ℒ∞-gain and improved event-triggering , 2010, 49th IEEE Conference on Decision and Control (CDC).

[19]  Panos J. Antsaklis,et al.  Passivity Analysis and Passivation of Interconnected Event-Triggered Feedback Systems Using Passivity Indices , 2014 .

[20]  Peter Seiler,et al.  Estimation with lossy measurements: jump estimators for jump systems , 2003, IEEE Trans. Autom. Control..

[21]  Wei Zhang,et al.  Stability of networked control systems: explicit analysis of delay , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[22]  João Pedro Hespanha,et al.  A Survey of Recent Results in Networked Control Systems , 2007, Proceedings of the IEEE.

[23]  Sandra Hirche,et al.  Optimal Event-triggered Control under Costly Observations , 2010 .

[24]  Lihua Xie,et al.  The sector bound approach to quantized feedback control , 2005, IEEE Transactions on Automatic Control.

[25]  K. Åström,et al.  Comparison of Periodic and Event Based Sampling for First-Order Stochastic Systems , 1999 .

[26]  Linda Bushnell,et al.  Stability analysis of networked control systems , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[27]  Tianmiao Wang,et al.  Remote surgery case: robot-assisted teleneurosurgery , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[28]  Feng Zhu,et al.  Passivity analysis and passivation of feedback systems using passivity indices , 2014, 2014 American Control Conference.

[29]  Raja Sengupta,et al.  An H/sub /spl infin// approach to networked control , 2005, IEEE Transactions on Automatic Control.