Input-delayed time/event-triggered intermittent control for incremental stability

This paper studies the incremental stability of continuous dynamical systems via input-delayed time/event-triggered intermittent control. The incremental stability notions including incremental global exponential stability (δGES) are proposed. The incremental stability via input-delayed intermittent control is formulated as a delay-dependent minimal activation time rate (D-MATR) problem. The criteria of δGES via time-triggered intermittent control (TTIC) and the D-MATR estimate are derived. Moreover, event-triggered intermittent control (ETIC) with multiple check-periods is proposed. The algorithms of ETIC and its sampling-based ETIC are given to guarantee δGES. Then, comparisons are given on D-MATR of ETICs with single/multiple check-periods, sampling-based ETIC, TTIC, and other intermittent controls. Both theoretical results and numerical simulations show that the ETIC with multiple check-periods can achieve the minimal activation time required for δGES than other intermittent controls. Additionally, a larger input delay leads to a bigger D-MATR for δGES. As applications, both TTIC and ETIC are used to achieve the global tracking of targets and the consistency of missile dynamics.