Performance prediction in uncertain networked control systems using ℒ1-adaptation-based distributed event-triggering

This paper studies networked control systems in the presence of communication constraints and uncertainties. We propose an ℒ₁-adaption-based distributed event-triggering broadcast scheme, where ℒ₁ adaptive controller is embedded in each subsystem. In this scheme, a subsystem broadcasts its state information to its neighbors when its local error exceeds a constant. We compare the resulting system with an ideal model that has perfect communication and no uncertainties. Performance bounds on these two system are derived. A trade-off is established among the performance bounds, the event thresholds, the adaptation rates, and the bandwidths of the low-pass filters in the ℒ₁ adaptation structure. With this scheme, the prediction of the performance of the networked control systems in the presence of uncertainties can be significantly improved. This is important for safety-critical applications.