Decentralized event-triggered control over wireless sensor/actuator networks

Abstract. In recent years we have witnessed a move of the major industrial automation providers into the wireless domain. While most of these compa-nies already offer wireless products for measurement and monitoring purposes, the ultimate goal is to be able to close feedback loops over wireless networks interconnecting sensors, computation devices, and actuators. In this paper we present a decentralized event-triggered implementation, over sensor/actuator networks, of centralized nonlinear controllers. Event-triggered control has been recently proposed as an alternative to the more traditional periodic execution of control tasks. In a typical event-triggered implementation, the control sig-nals are kept constant until the violation of a condition on the state of the plant triggers the re-computation of the control signals. The possibility of reducing the number of re-computations, and thus of transmissions, while guarantee-ing desired levels of control performance, makes event-triggered control very appealing in the context of sensor/actuator networks. In these systems the communication network is a shared resource and event-triggered implementa-tions of control laws offer a flexible way to reduce network utilization. Moreover reducing the number of times that a feedback control law is executed implies a reduction in transmissions and thus a reduction in energy expenditures of battery powered wireless sensor nodes. 1