Towards decentralized event-triggered implementations of centralized control laws

Abstract. The recent advances in communication technologies have lead to an increasing number of feedback control loops closed over net-works interconnecting sensors, computation devices, and actuators. In these systems the communication network is a shared resource and event-triggered implementations of control laws offer a flexible way to reduce network utilization. In a typical event-triggered implementation, the con-trol signals are kept constant until the violation of a condition on the plant state triggers the recomputation of the control signals. Several event-triggered controller implementations have been recently proposed in [1], [2], [3], [4], [5] and references therein. In this paper we present a decentralized event-triggered implementation for centralized nonlinear controllers. Our technique complements the results in [5], which apply only to systems composed by weakly-coupled subsystems, by also decen-tralizing the triggering condition at the local subsystem level. 1 Decentralized event-triggered contro