Dynamic event-Triggered control under packet losses:The case with acknowledgements

In this paper, a dynamic ETC strategy for nonlinear state-feedback systems is proposed that results in guarantees for a finite ℓp-gain from disturbance input to performance output and a strictly positive lower bound on the inter-event times despite the presence of packet losses. The proposed dynamic ETC strategy has several advantages with respect to the commonly studied static ETC strategy including significantly larger average inter-event times. The proposed design methodology results in tradeoffs between the maximum allowable number of successive packet dropouts, (minimum and average) inter-event times and ℓp-gains, which will be illustrated by means of a numerical example.