ℒ1 adaptive control of event-triggered networked systems

This paper studies the implementation of ℒ₁ adaptive controller over real-time networks using event-triggering. Event-triggering schedules the data transmission dependent upon errors exceeding certain threshold. We provide event-triggering schemes to characterize the time instants of data transmissions, while using ℒ₁ adaptive controller in the feedback loop. Lower bounds on transmission periods are provided. We show that with the proposed event-triggering schemes the states and the input in the networked system can be arbitrarily close to those of a stable reference system by increasing the rate of adaptation and the transmission frequency.