Dynamic event-triggered control of linear continuous-time systems using a positive systems approach

Abstract

We provide new dynamic event-triggered controls for continuous-time linear systems that contain additive uncertainties. We prove input-to-state stability properties that imply uniform global exponential stability when the additive uncertainties are zero. Significant novel features include (a) new dynamic extensions and new trigger rules that provide a new positive systems analog of significant prior dynamic event-triggered work of A. Girard and (b) our application to a BlueROV2 underwater vehicle model, where we provide significantly larger lower bounds on the inter-execution times, and usefully fewer trigger times, compared with standard dynamic event-triggered approaches that used the usual Euclidean norm, and as compared with static event-triggered controls that instead used positive systems approaches.