Passivity-based self-triggered control
Emeka P. Eyisi, Xenofon Koutsoukos · ACM SIGBED Review · 2011
In this paper we present a case study on the trajectory tracking control of a robotic manipulator over a wireless network. We use passivity and self-triggered control to achieve two important desirable properties of Cyber Physical Systems (CPS), efficient use of resources and stability in the presence of network uncertainties. By using a passivity based approach, our design ensures the stability of the overall system even in the presence of network uncertainties while the self-triggered strategy ensures efficient use of network resources. We present preliminary simulation results to demonstrate our approach for the case study.