StabilityAnalysis andDesign of aNetwork ofEvent-basedSystems

We consider a network of event-based systems that use a shared wireless medium to communicate with their respective controllers. These systems use a contention resolution mechanism to arbitrate access to the shared network. We identify sufficient conditions for Lyapunov mean square stability of each control system in the network, and design event-based policies that guarantee it. Our stability analysis is based on a Markov model that removes the network-induced correlation between the states of the control systems in the network. Analyzing the stability of this Markov model remains a challenge, as the event-triggering policy renders the estimation error non-Gaussian. Hence, we identify an auxiliary system that furnishes an upper bound for the variance of the system states. Using the stability analysis, we design policies, such as the constant-probability policy, for adapting the event-triggering thresholds to the delay in accessing the network. Realistic wireless networked control examples illustrate the applicability of the presented approach