Event-triggered dynamic feedback controllers for nonlinear systems with asynchronous transmissions

We study the event-triggered stabilization of nonlinear systems using dynamic feedback laws. In particular, we consider the scenario where the plant measurements and the control input are sampled using two independent triggering rules, which leads to asynchronous transmissions. The proposed mechanisms enforce a uniform amount of time between any two transmissions generated by each triggering condition. To that end, we develop and combine time-triggered and event-triggered techniques. We ensure a global asymptotic stability property for the closed-loop system. We present a systematic way to apply the approach to linear time-invariant systems, for which the conditions are formulated as a linear matrix inequality. We compare the obtained results in this particular case with existing techniques in the literature on numerical examples. We emphasize that the presented results are also new in the context of time-triggered control as we explain.