Volume 18 Issue 6
December  2021
Turn off MathJax
Article Contents
Xiaohua Ge, Qing-Long Han, Xian-Ming Zhang, Derui Ding. Dynamic Event-triggered Control and Estimation: A Survey. International Journal of Automation and Computing, vol. 18, no. 6, pp.857-886, 2021. https://doi.org/10.1007/s11633-021-1306-z
 Citation: Xiaohua Ge, Qing-Long Han, Xian-Ming Zhang, Derui Ding. Dynamic Event-triggered Control and Estimation: A Survey. International Journal of Automation and Computing, vol. 18, no. 6, pp.857-886, 2021.

# Dynamic Event-triggered Control and Estimation: A Survey

##### doi: 10.1007/s11633-021-1306-z
• Author Bio:

Xiaohua Ge received the B. Eng. degree in electronics and information engineering from Nanchang Hangkong University, China in 2008, the M. Eng. degree in control theory and control engineering from Hangzhou Dianzi University, China in 2011, and the Ph. D. degree in computer engineering from Central Queensland University, Australia in 2014. From 2011 to 2013, he was a research assistant with Centre for Intelligent and Networked Systems, Central Queensland University, where he was a research fellow in 2014. From 2015 to 2017, he was a research fellow with Griffith School of Engineering, Griffith University, Australia. He is currently a senior lecturer with School of Software and Electrical Engineering, Swinburne University of Technology, Australia. He is a Highly Cited Researcher according to Clarivate Analytics. He is a Senior Member of IEEE. He received the 2019 IEEE Systems, Man, and Cybernetics Society Andrew P. Sage Best Transactions Paper Award, the 2020 IEEE/CAA Journal of Automatica Sinica Outstanding Reviewer Award, the 2017 IEEE Transactions on Cybernetics Outstanding Reviewer Award, and the 2017 International Journal of Automation and Computing Outstanding Reviewer Award. He is an Associate Editor of the IEEE Transaction on Systems, Man, and Cybernetics: Systems. His research interests include networked, event-triggered, secure, and intelligent control and estimation, and their applications in autonomous vehicles and connected vehicles. E-mail: xge@swin.edu.au ORCID iD: 0000-0003-0180-0897

Qing-Long Han received the B. Sc. degree in mathematics from Shandong Normal University, China in 1983, and the M.Sc. and Ph. D. degrees in control engineering from East China University of Science and Technology, China in 1992 and 1997, respectively. He is Pro Vice-Chancellor (Research Quality) and a Distinguished Professor at Swinburne University of Technology, Australia. He held various academic and management positions at Griffith University and Central Queensland University, Australia. He was a Highly Cited Researcher in both Engineering and Computer Science (Clarivate Analytics, 2019−2020). He was one of Australia′s Top 5 Lifetime Achievers (Research Superstars) in Engineering and Computer Science (The Australian′s 2020 Research Magazine). He was the recipient of the 2021 M. A. Sargent Medal (the Highest Award of the Electrical College Board of Engineers Australia), the 2020 IEEE Systems, Man, and Cybernetics Society Andrew P. Sage Best Transactions Paper Award, the 2020 IEEE Transactions on Industrial Informatics Outstanding Paper Award, and the 2019 IEEE SMC Society Andrew P. Sage Best Transactions Paper Award. He is a Fellow of the Institute of Electrical and Electronic Engineers and the Institution of Engineers Australia. He has served as an AdCom Member of IEEE Industrial Electronics Society (IES), a Member of IEEE IES Fellow Committee, and Chair of IEEE IES Technical Committee on Networked Control Systems. He is Co-Editor of Australian Journal of Electrical and Electronic Engineering, an Associate Editor for 12 international journals, including IEEE Transactions on Cybernetics, IEEE Transactions on Industrial Informatics, IEEE Industrial Electronics Magazine, IEEE/CAA Journal of Automatica Sinica, Control Engineering Practice, Information Sciences, and International Journal of Automation and Computing, and a Guest Editor for 13 special issues. His research interests include networked control systems, multi-agent systems, time-delay systems, smart grids, unmanned surface vehicles, and neural networks. E-mail: qhan@swin.edu.au (Corresponding author) ORCID iD: 0000-0002-7207-0716

Xian-Ming Zhang received the M. Sc. degree in applied mathematics and the Ph. D. degree in control theory and control engineering from Central South University, China in 1992 and 2006, respectively. In 1992, he joined Central South University, where he was an associate professor with School of Mathematics and Statistics. From 2007 to 2014, he was a post-doctoral research fellow and a lecturer with School of Engineering and Technology, Central Queensland University, Australia. From 2014 to 2016, he was a lecturer with the Griffith School of Engineering, Griffith University, Australia. In 2016, he joined the Swinburne University of Technology, Australia, where he is currently an associate professor with School of Software and Electrical Engineering. He is a Highly Cited Researcher according to Clarivate Analytics. He is a Senior Member of IEEE. He was a recipient of second National Natural Science Award in China in 2013, and first Hunan Provincial Natural Science Award in Hunan Province in China in 2011, both jointly with Prof. M. Wu and Prof. Y. He. He was also a recipient of the 2020 IEEE Transactions on Industrial Informatics Outstanding Paper Award, the 2019 IEEE Systems, Man, and Cybernetics Society Andrew P. Sage Best Transactions Paper Award, and the 2016 IET Control Theory and Applications Premium Award. He is an Associate Editor of the IEEE Transactions on Cybernetics, Journal of the Franklin Institute, International Journal of Control, Automation, and Systems, Neurocomputing, and Neural Processing Letters. His research interests include $H_{\infty}$ filtering, event-triggered control systems, networked control systems, neural networks, distributed systems, and time-delay systems. E-mail: xianmingzhang@swin.edu.au ORCID iD: 0000-0003-0691-5386

Derui Ding received the B. Sc. degree in industry engineering and the M. Sc. degree in detection technology and automation equipment from Anhui Polytechnic University, China in 2004 and 2007, and the Ph. D. degree in control theory and control engineering from Donghua University, China in 2014. From July 2007 to December 2014, he was a teaching assistant and then a lecturer in Department of Mathematics, Anhui Polytechnic University, China. From June 2012 to September 2012, he was a research assistant in Department of Mechanical Engineering, the University of Hong Kong, China. From March 2013 to March 2014, he was a visiting scholar in Department of Information Systems and Computing, Brunel University, UK. He is currently a senior research fellow with School of Software and Electrical Engineering, Swinburne University of Technology, Australia. He is a Highly Cited Researcher according to Clarivate Analytics. He is a Senior Member of IEEE. He received the 2020 IEEE Systems, Man, and Cybernetics Society Andrew P. Sage Best Transactions Paper Award, and the 2018 IET Control Theory and Applications Premium Award. He has published more than 80 papers in refereed international journals. He is an Associate Editor for Neurocomputing and IET Control Theory & Applications. He is also a very active reviewer for many international journals. His research interests include nonlinear stochastic control and filtering, as well as multi-agent systems and sensor networks. E-mail: dding@swin.edu.au ORCID iD: 0000-0001-7402-6682

• Accepted Date: 2021-05-12
• Publish Online: 2021-06-11
• Publish Date: 2021-12-01
• The efficient utilization of computation and communication resources became a critical design issue in a wide range of networked systems due to the finite computation and processing capabilities of system components (e.g., sensor, controller) and shared network bandwidth. Event-triggered mechanisms (ETMs) are regarded as a major paradigm shift in resource-constrained applications compared to the classical time-triggered mechanisms, which allows a trade-off to be achieved between desired control/estimation performance and improved resource efficiency. In recent years, dynamic event-triggered mechanisms (DETMs) are emerging as a promising enabler to fulfill more resource-efficient and flexible design requirements. This paper provides a comprehensive review of the latest developments in dynamic event-triggered control and estimation for networked systems. Firstly, a unified event-triggered control and estimation framework is established, which empowers several fundamental issues associated with the construction and implementation of the desired ETM and controller/estimator to be systematically investigated. Secondly, the motivations of DETMs and their main features and benefits are outlined. Then, two typical classes of DETMs based on auxiliary dynamic variables (ADVs) and dynamic threshold parameters (DTPs) are elaborated. In addition, the main techniques of constructing ADVs and DTPs are classified, and their corresponding analysis and design methods are discussed. Furthermore, three application examples are provided to evaluate different ETMs and verify how and under what conditions DETMs are superior to their static and periodic counterparts. Finally, several challenging issues are envisioned to direct the future research.

• 1We use the terms “event-triggered mechanism” and “event trigger” interchangeably throughout the paper whenever without causing confusion.
•  [1] J. Ackermann. Sampled-Data Control Systems: Analysis and Synthesis, Robust System Design, Berlin, Germany: Springer-Verlag, 1985. [2] T. W. Chen, B. Francis. Optimal Sampled-Data Control Systems, London, UK: Springer-Verlag, 1995. [3] L. Hetel, C. Fiter, H. Omran, A. Seuret, E. Fridman, J. P. Richard, S. L. Niculescu. Recent developments on the stability of systems with aperiodic sampling: An overview. Automatica, vol. 76, pp. 309–335, 2017. DOI: 10.1016/j.automatica.2016.10.023. [4] L. F. Ma, Z. D. Wang, Q. L. Han, H. K. Lam. Variance-constrained distributed filtering for time-varying systems with multiplicative noises and deception attacks over sensor networks. IEEE Sensors Journal, vol. 17, no. 7, pp. 2279–2288, 2017. DOI: 10.1109/JSEN.2017.2654325. [5] H. El Ghor, E. H. M. Aggoune. Energy efficient scheduler of aperiodic jobs for real-time embedded systems. International Journal of Automation and Computing, vol. 17, no. 5, pp. 733–743, 2020. DOI: 10.1007/s11633-016-0993-3. [6] M. Miskowicz. Event-Based Control and Signal Processing, Boca Raton, USA: CRC Press, 2016. [7] L. Zou, Z. D. Wang, Q. L. Han, D. H. Zhou. Moving horizon estimation for networked time-delay systems under Round-Robin protocol. IEEE Transactions on Automatic Control, vol. 64, no. 12, pp. 5191–5198, 2019. DOI: 10.1109/TAC.2019.2910167. [8] A. Girard. Dynamic triggering mechanisms for event-triggered control. IEEE Transactions on Automatic Control, vol. 60, no. 7, pp. 1992–1997, 2015. DOI: 10.1109/TAC.2014.2366855. [9] S. L. Hu, D. Yue, X. X. Yin, X. P. Xie, Y. Ma. Adaptive event-triggered control for nonlinear discrete-time systems. International Journal of Robust and Nonlinear Control, vol. 26, no. 18, pp. 4104–4125, 2016. DOI: 10.1002/rnc.3550. [10] X. H. Ge, Q. L. Han, L. Ding, Y. L. Wang, X. M. Zhang. Dynamic event-triggered distributed coordination control and its applications: A survey of trends and techniques. IEEE Transactions on Systems,Man,and Cybernetics:Systems, vol. 50, no. 9, pp. 3112–3125, 2020. DOI: 10.1109/TSMC.2020.3010825. [11] M. Lemmon. Event-triggered feedback in control, estimation, and optimization. Lecture Notes in Control and Information Science, vol. 406, pp. 293−358, 2010. DOI: 10.1007/978-0-85729-033-5_9. [12] W. P. M. H. Heemels, K. H. Johansson, P. Tabuada. An introduction to event-triggered and self-triggered control. In Proceedings of the 51st IEEE Conference on Decision and Control, IEEE, Maui, USA, pp. 3270-3285, 2012. DOI: 10.1109/CDC.2012.6425820. [13] C. Peng, F. Q. Li. A survey on recent advances in event-triggered communication and control. Information Sciences, vol. 457-458, pp. 113–125, 2018. DOI: 10.1016/j.ins.2018.04.055. [14] X. M. Zhang, Q. L. Han, X. H. Ge, D. R. Ding, L. Ding, D. Yue, C. Peng. Networked control systems: A survey of trends and techniques. IEEE/CAA Journal of Automatica Sinica, vol. 7, no. 1, pp. 1–17, 2020. DOI: 10.1109/JAS.2019.1911651. [15] X. M. Zhang, Q. L. Han, B. L. Zhang. An overview and deep investigation on sampled-data-based event-triggered control and filtering for networked systems. IEEE Transactions on Industrial Informatics, vol. 13, no. 1, pp. 4–16, 2017. DOI: 10.1109/TII.2016.2607150. [16] L. Zou, Z. D. Wang, D. H. Zhou. Event-based control and filtering of networked systems: A survey. International Journal of Automation and Computing, vol. 14, no. 3, pp. 239–253, 2017. DOI: 10.1007/s11633-017-1077-8. [17] Z. Y. Chen, Q. L. Han, Y. M. Yan, Z. G. Wu. How often should one update control and estimation: Review of networked triggering techniques. Science China Information Sciences, vol. 63, no. 5, Article number 150201, 2020. DOI: 10.1007/s11432-019-2637-9. [18] X. H. Ge, Q. L. Han, X. M. Zhang, L. Ding, F. W. Yang. Distributed event-triggered estimation over sensor networks: A survey. IEEE Transactions on Cybernetics, vol. 50, no. 3, pp. 1306–1320, 2020. DOI: 10.1109/TCYB.2019.2917179. [19] L. Ding, Q. L. Han, X. H. Ge, X. M. Zhang. An overview of recent advances in event-triggered consensus of multiagent systems. IEEE Transactions on Cybernetics, vol. 48, no. 4, pp. 1110–1123, 2018. DOI: 10.1109/TCYB.2017.2771560. [20] C. Nowzari, E. Garcia, J. Cortés. Event-triggered communication and control of networked systems for multi-agent consensus. Automatica, vol. 105, pp. 1–27, 2019. DOI: 10.1016/j.automatica.2019.03.009. [21] E. Aranda-Escolástico, M. Guinaldo, R. Heradio, J. Chacon, H. Vargas, J. Sánchez, S. Dormido. Event-based control: A bibliometric analysis of twenty years of research. IEEE Access, vol. 8, pp. 47188–47208, 2020. DOI: 10.1109/ACCESS.2020.2978174. [22] X. M. Zhang, Q. L. Han. Event-based $H_{\infty}$ filtering for sampled-data systems. Automatica, vol. 51, pp. 55–69, 2015. DOI: 10.1016/j.automatica.2014.10.092. [23] X. M. Zhang, Q. L. Han, X. H. Ge, L. Ding. Resilient control design based on a sampled-data model for a class of networked control systems under denial-of-service attacks. IEEE Transactions on Cybernetics, vol. 50, no. 8, pp. 3616–3626, 2020. DOI: 10.1109/TCYB.2019.2956137. [24] X. F. Wang, M. Lemmon. On event design in event-triggered feedback systems. Automatica, vol. 47, no. 10, pp. 2319–2322, 2011. DOI: 10.1016/j.automatica.2011.05.027. [25] P. Tallapragada, J. Cortés. Event-triggered stabilization of linear systems under bounded bit rates. IEEE Transactions on Automatic Control, vol. 61, no. 6, pp. 1575–1589, 2016. DOI: 10.1109/TAC.2015.2480215. [26] A. Selivanov, E. Fridman. Event-Triggered $H_{\infty}$ control: A switching approach. IEEE Transactions on Automatic Control, vol. 61, no. 10, pp. 3221–3226, 2016. DOI: 10.1109/TAC.2015.2508286. [27] G. Battistelli, L. Chisci, D. Selvi. A distributed Kalman filter with event-triggered communication and guaranteed stability. Automatica, vol. 93, pp. 75–82, 2018. DOI: 10.1016/j.automatica.2018.03.005. [28] Á. Cuenca, D. J. Antunes, A. Castillo, P. García, B. A. Khashooei, W. P. M. H. Heemels. Periodic event-triggered sampling and dual-rate control for a wireless networked control system with applications to UAVs. IEEE Transactions on Industrial Electronics, vol. 66, no. 4, pp. 3157–3166, 2019. DOI: 10.1109/TIE.2018.2850018. [29] S. X. Luo, F. Q. Deng. On event-triggered control of nonlinear stochastic systems. IEEE Transactions on Automatic Control, vol. 65, no. 1, pp. 369–375, 2020. DOI: 10.1109/TAC.2019.2916285. [30] B. Hu, Z. H. Guan, M. Y. Fu. Distributed event-driven control for finite-time consensus. Automatica, vol. 103, pp. 88–95, 2019. DOI: 10.1016/j.automatica.2019.01.026. [31] B. D. Ning, Q. L. Han, Z. Y. Zuo. Practical fixed-time consensus for integrator-type multi-agent systems: A time base generator approach. Automatica, vol. 105, pp. 406–414, 2019. DOI: 10.1016/j.automatica.2019.04.013. [32] B. D. Ning, Q. L. Han. Prescribed finite-time consensus tracking for multiagent systems with nonholonomic chained-form dynamics. IEEE Transactions on Automatic Control, vol. 64, no. 14, pp. 1686–1693, 2019. DOI: 10.1109/TAC.2018.2852605. [33] H. Yu, T. W. Chen. On Zeno behavior in event-triggered finite-time consensus of multi-agent systems. IEEE Transactions on Automatic Control, 2020. DOI: 10.1109/TAC.2020.3030758. [34] Z. Y. Zuo, Q. L. Han, B. D. Ning, X. H. Ge, X. M. Zhang. An overview of recent advances in fixed-time cooperative control of multiagent systems. IEEE Transactions on Industrial Informatics, vol. 14, no. 6, pp. 2322–2334, 2018. DOI: 10.1109/TII.2018.2817248. [35] D. Han, Y. L. Mo, J. F. Wu, S. Weerakkody, B. Sinopoli, L. Shi. Stochastic event-triggered sensor schedule for remote state estimation. IEEE Transactions on Automatic Control, vol. 60, no. 10, pp. 2661–2675, 2015. DOI: 10.1109/TAC.2015.2406975. [36] L. Wang, Z. Wang, Q. L. Han, G. Wei. Event-based variance-constrained $H_{\infty}$ filtering for stochastic parameter systems over sensor networks with successive missing measurements. IEEE Transactions on Cybernetics, vol. 48, no. 3, pp. 1007–1017, 2018. DOI: 10.1109/TCYB.2017.2671032. [37] X. H. Ge, Q. L. Han, M. Y. Zhong, X. M. Zhang. Distributed Krein space-based attack detection over sensor networks under deception attacks. Automatica, vol. 109, Article number 108557, 2019. DOI: 10.1016/j.automatica.2019.108557. [38] D. J. Du, B. Qi, M. R. Fei, C. Peng. Multiple event-triggered H2/ $H_{\infty}$ filtering for hybrid wired-wireless networked systems with random network-induced delays. Information Sciences, vol. 325, pp. 393–408, 2015. DOI: 10.1016/j.ins.2015.07.026. [39] M. Davoodi, N. Meskin, K. Khorasani. Event-triggered multiobjective control and fault diagnosis: A unified framework. IEEE Transactions on Industrial Informatics, vol. 13, no. 1, pp. 298–311, 2017. DOI: 10.1109/TII.2016.2541669. [40] X. H. Ge, Q. L. Han, Z. D. Wang. A dynamic event-triggered transmission scheme for distributed set-membership estimation over wireless sensor networks. IEEE Transactions on Cybernetics, vol. 49, no. 1, pp. 171–183, 2019. DOI: 10.1109/TCYB.2017.2769722. [41] D. R. Ding, Z. D. Wang, Q. L. Han. A set-membership approach to event-triggered filtering for general nonlinear systems over sensor networks. IEEE Transactions on Automatic Control, vol. 65, no. 4, pp. 1792–1799, 2020. DOI: 10.1109/TAC.2019.2934389. [42] D. R. Ding, Q. L. Han, X. H. Ge, J. Wang. Secure state estimation and control of cyber-physical systems: A survey. IEEE Transactions on Systems,Man,and Cybernetics:Systems, vol. 51, no. 1, pp. 176–190, 2021. DOI: 10.1109/TSMC.2020.3041121. [43] D. Yue, E. G. Tian, Q. L. Han. A delay system method for designing event-triggered controllers of networked control systems. IEEE Transactions on Automatic Control, vol. 58, no. 2, pp. 475–481, 2013. DOI: 10.1109/TAC.2012.2206694. [44] C. Peng, T. C. Yang. Event-triggered communication and H∞ control co-design for networked control systems. Automatica, vol. 49, no. 5, pp. 1326–1332, 2013. DOI: 10.1016/j.automatica.2013.01.038. [45] W. P. M. H. Heemels, M. C. F. Donkers, A. R. Teel. Periodic event-triggered control for linear systems. IEEE Transactions on Automatic Control, vol. 58, no. 4, pp. 847–861, 2013. DOI: 10.1109/TAC.2012.2220443. [46] E. Garcia, Y. C. Cao, D. W. Casbeer. Periodic event-triggered synchronization of linear multi-agent systems with communication delays. IEEE Transactions on Automatic Control, vol. 62, no. 1, pp. 366–371, 2017. DOI: 10.1109/TAC.2016.2555484. [47] X. Y. Meng, L. H. Xie, Y. C. Soh. Asynchronous periodic event-triggered consensus for multi-agent systems. Automatica, vol. 84, pp. 214–220, 2017. DOI: 10.1016/j.automatica.2017.07.008. [48] S. Linsenmayer, D. V. Dimarogonas, F. Allgöwer. Periodic event-triggered control for networked control systems based on non-monotonic Lyapunov functions. Automatica, vol. 106, pp. 35–46, 2019. DOI: 10.1016/j.automatica.2019.04.039. [49] J. F. Wu, Q. S. Jia, K. H. Johansson, L. Shi. Event-based sensor data scheduling: Trade-off between communication rate and estimation quality. IEEE Transactions on Automatic Control, vol. 58, no. 4, pp. 1041–1046, 2013. DOI: 10.1109/TAC.2012.2215253. [50] D. R. Ding, Z. D. Wang, D. W. C. Ho, G. L. Wei. Observer-based event-triggering consensus control for multiagent systems with lossy sensors and cyber-attacks. IEEE Transactions on Cybernetics, vol. 47, no. 8, pp. 1936–1947, 2017. DOI: 10.1109/TCYB.2016.2582802. [51] M. Kooshkbaghi, H. J. Marquez. Event-triggered discrete-time cubature Kalman filter for nonlinear dynamical systems with packet dropout. IEEE Transactions on Automatic Control, vol. 65, no. 5, pp. 2278–2285, 2020. DOI: 10.1109/TAC.2019.2945286. [52] P. Tabuada. Event-triggered real-time scheduling of stabilizing control tasks. IEEE Transactions on Automatic Control, vol. 52, no. 9, pp. 1680–1685, 2007. DOI: 10.1109/TAC.2007.904277. [53] X. F. Wang, M. D. Lemmon. Event-triggering in distributed networked control systems. IEEE Transactions on Automatic Control, vol. 56, no. 3, pp. 586–601, 2011. DOI: 10.1109/TAC.2010.2057951. [54] D. V. Dimarogonas, E. Frazzoli, K. H. Johansson. Distributed event-triggered control for multi-agent systems. IEEE Transactions on Automatic Control, vol. 57, no. 5, pp. 1291–1297, 2012. DOI: 10.1109/TAC.2011.2174666. [55] E. Garcia, P. J. Antsaklis. Model-based event-triggered control for systems with quantization and time-varying network delays. IEEE Transactions on Automatic Control, vol. 58, no. 2, pp. 422–434, 2013. DOI: 10.1109/TAC.2012.2211411. [56] C. Peng, Q. L. Han, D. Yue. To transmit or not to transmit: A discrete event-triggered communication scheme for networked Takagi-Sugeno fuzzy systems. IEEE Transactions on Fuzzy Systems, vol. 21, no. 1, pp. 164–170, 2013. DOI: 10.1109/TFUZZ.2012.2199994. [57] W. Chen, D. R. Ding, X. H. Ge, Q. L. Han, G. L. Wei. $H_{\infty}$ containment control of multiagent systems under event-triggered communication scheduling: The finite-horizon case. IEEE Transactions on Cybernetics, vol. 50, no. 4, pp. 1372–1382, 2020. DOI: 10.1109/TCYB.2018.2885567. [58] X. M. Zhang, Q. L. Han. A decentralized event-triggered dissipative control scheme for systems with multiple sensors to sample the system outputs. IEEE Transactions on Cybernetics, vol. 46, no. 12, pp. 2745–2757, 2016. DOI: 10.1109/TCYB.2015.2487420. [59] X. H. Ge, Q. L. Han. Distributed event-triggered $H_{\infty}$ filtering over sensor networks with communication delays. Information Sciences, vol. 291, pp. 128–142, 2015. DOI: 10.1016/j.ins.2014.08.047. [60] G. S. Seyboth, D. V. Dimarogonas, K. H. Johansson. Event-based broadcasting for multi-agent average consensus. Automatica, vol. 49, no. 1, pp. 245–252, 2013. DOI: 10.1016/j.automatica.2012.08.042. [61] J. H. Zhang, G. Feng. Event-driven observer-based output feedback control for linear systems. Automatica, vol. 50, no. 7, pp. 1852–1859, 2014. DOI: 10.1016/j.automatica.2014.04.026. [62] D. P. Yang, W. Ren, X. D. Liu, W. S. Chen. Decentralized event-triggered consensus for linear multi-agent systems under general directed graphs. Automatica, vol. 69, pp. 242–249, 2016. DOI: 10.1016/j.automatica.2016.03.003. [63] M. C. F. Donkers, W. P. M. H. Heemels. Output-based event-triggered control with guaranteed $L_{\infty}$-gain and improved and decentralized event-triggering. IEEE Transactions on Automatic Control, vol. 57, no. 6, pp. 1362–1376, 2012. DOI: 10.1109/TAC.2011.2174696. [64] W. Zhu, Z. P. Jiang. Event-based leader-following consensus of multi-agent systems with input time delay. IEEE Transactions on Automatic Control, vol. 60, no. 5, pp. 1362–1367, 2015. DOI: 10.1109/TAC.2014.2357131. [65] Y. Cheng, V. Ugrinovskii. Event-triggered leader-following tracking control for multivariable multi-agent systems. Automatica, vol. 70, pp. 204–210, 2016. DOI: 10.1016/j.automatica.2016.04.003. [66] C. Peng, D. Yue, M. R. Fei. A higher energy-efficient sampling scheme for networked control systems over IEEE 802.15.4 wireless networks. IEEE Transactions on Industrial Informatics, vol. 12, no. 5, pp. 1766–1774, 2016. DOI: 10.1109/TII.2015.2481821. [67] V. S. Dolk, D. P. Borgers, W. P. M. H. Heemels. Output-based and decentralized dynamic event-triggered control with guaranteed Lp-gain performance and Zeno-freeness. IEEE Transactions on Automatic Control, vol. 62, no. 1, pp. 34–49, 2017. DOI: 10.1109/TAC.2016.2536707. [68] V. Dolk, W. Heemels. Event-triggered control systems under packet losses. Automatica, vol. 80, pp. 143–155, 2017. DOI: 10.1016/j.automatica.2017.02.029. [69] D. P. Borgers, V. S. Dolk, W. P. M. H. Heemels. Riccati-based design of event-triggered controllers for linear systems with delays. IEEE Transactions on Automatic Control, vol. 63, no. 1, pp. 174–188, 2018. DOI: 10.1109/TAC.2017.2713047. [70] A. Q. Fu, J. A. McCann. Dynamic decentralized periodic event-triggered control for wireless cyber-physical systems. IEEE Transactions on Control Systems Technology, 2020. DOI: 10.1109/TCST.2020.3016131. [71] X. L. Yi, K. Liu, D. V. Dimarogonas, K. H. Johansson. Dynamic event-triggered and self-triggered control for multi-agent systems. IEEE Transactions on Automatic Control, vol. 64, no. 8, pp. 3300–3307, 2019. DOI: 10.1109/TAC.2018.2874703. [72] G. L. Zhao, C. C. Hua. A hybrid dynamic event-triggered approach to consensus of multi-agent systems with external disturbances. IEEE Transactions on Automatic Control, 2020. DOI: 10.1109/TAC.2020.3018437. [73] W. L. He, B. Xu, Q. L. Han, F. Qian. Adaptive consensus control of linear multiagent systems with dynamic event-triggered strategies. IEEE Transactions on Cybernetics, vol. 50, no. 7, pp. 2996–3008, 2020. DOI: 10.1109/TCYB.2019.2920093. [74] A. Amini, A. Asif, A. Mohammadi. Formation-containment control using dynamic event-triggering mechanism for multi-agent systems. IEEE/CAA Journal of Automatica Sinica, vol. 7, no. 5, pp. 1235–1248, 2020. DOI: 10.1109/JAS.2020.1003288. [75] D. Liu, G. H. Yang. Dynamic event-triggered control for linear time-invariant systems with $H_{\infty}$-gain performance. International Journal of Robust and Nonlinear Control, vol. 29, no. 2, pp. 507–518, 2019. DOI: 10.1002/rnc.4403. [76] Y. C. Niu, L. Sheng, M. Gao, D. H. Zhou. Dynamic event-triggered state estimation for continuous-time polynomial nonlinear systems with external disturbances. IEEE Transactions on Industrial Informatics, vol. 17, no. 6, pp. 3962–3970, 2021. DOI: 10.1109/TII.2020.3015004. [77] X. D. Wang, Z. Y. Fei, T. Wang, L. Yang. Dynamic event-triggered actuator fault estimation and accommodation for dynamical systems. Information Sciences, vol. 525, pp. 119–133, 2020. DOI: 10.1016/j.ins.2020.03.016. [78] G. L. Zhao, C. C. Hua, X. P. Guan. Decentralized dynamic event-triggered ${H}_{\infty}$ control for nonlinear systems with unreliable communication channel and limited bandwidth. IEEE Transactions on Fuzzy Systems, vol. 29, no. 4, pp. 757–771, 2021. DOI: 10.1109/TFUZZ.2020.2965877. [79] Z. Q. Zuo, P. F. Xie, Y. J. Wang. Output-based dynamic event-triggering control for sensor saturated systems with external disturbance. Applied Mathematics and Computation, vol. 374, Article number 125043, 2020. DOI: 10.1016/j.amc.2020.125043. [80] L. Ma, Z. D. Wang, C. X. Cai, F. E. Alsaadi. Dynamic event-triggered state estimation for discrete-time singularly perturbed systems with distributed time-delays. IEEE Transactions on Systems,Man,and Cybernetics:Systems, vol. 50, no. 9, pp. 3258–3268, 2020. DOI: 10.1109/TSMC.2018.2876203. [81] Q. Li, B. Shen, Z. D. Wang, W. G. Sheng. Recursive distributed filtering over sensor networks on Gilbert-Elliott channels: A dynamic event-triggered approach. Automatica, vol. 113, Article number 108681, 2020. DOI: 10.1016/j.automatica.2019.108681. [82] S. L. Hu, Z. H. Cheng, D. Yue, C. X. Dou, Y. S. Xue. Bandwidth allocation-based switched dynamic triggering control against DoS attacks. IEEE Transactions on Systems,Man,and Cybernetics:Systems,published online, 2019. DOI: 10.1109/TSMC.2019.2956945. [83] S. L. Hu, D. Yue, Z. H. Cheng, X. P. Xie, X. L. Chen. Co-design of dynamic event-triggered communication scheme and resilient observer-based control under aperiodic DoS attacks. IEEE Transactions on Cybernetics, 2020. DOI: 10.1109/TCYB.2020.3001187. [84] H. Y. Li, Z. X. Zhang, H. C. Yan, X. P. Xie. Adaptive event-triggered fuzzy control for uncertain active suspension systems. IEEE Transactions on Cybernetics, vol. 49, no. 12, pp. 4388–4397, 2019. DOI: 10.1109/TCYB.2018.2864776. [85] W. F. Li, Z. C. Xie, J. Zhao, P. K. Wong. Velocity-based robust fault tolerant automatic steering control of autonomous ground vehicles via adaptive event triggered network communication. Mechanical Systems and Signal Processing, vol. 143, Article number 106798, 2020. DOI: 10.1016/j.ymssp.2020.106798. [86] Z. Gu, E. G. Tian, J. L. Liu. Adaptive event-triggered control of a class of nonlinear networked systems. Journal of The Franklin Institute, vol. 354, no. 9, pp. 3854–3871, 2017. DOI: 10.1016/j.jfranklin.2017.02.026. [87] Z. Gu, P. Shi, D. Yue, Z. T. Ding. Decentralized adaptive event-triggered $H_{\infty}$ filtering for a class of networked nonlinear interconnected systems. IEEE Transactions on Cybernetics, vol. 49, no. 5, pp. 1570–1579, 2019. DOI: 10.1109/TCYB.2018.2802044. [88] S. X. Luo, F. Q. Deng, W. H. Chen. Dynamic event-triggered control for linear stochastic systems with sporadic measurements and communication delays. Automatica, vol. 107, pp. 86–94, 2019. DOI: 10.1016/j.automatica.2019.05.028. [89] Y. P. Guan, Q. L. Han, H. J. Yao, X. H. Ge. Robust event-triggered $H_{\infty}$ controller design for vehicle active suspension systems. Nonlinear Dynamics, vol. 94, pp. 627–638, 2018. DOI: 10.1007/s11071-018-4381-0. [90] Z. Y. Fei, X. D. Wang, M. Liu, J. Y. Yu. Reliable control for vehicle active suspension systems under event-triggered scheme with frequency range limitation. IEEE Transactions on Systems,Man,and Cybernetics:Systems, vol. 51, no. 3, pp. 1630–1641, 2021. DOI: 10.1109/TSMC.2019.2899942. [91] L. Liu, X. S. Li. Event-triggered tracking control for active seat suspension systems with time-varying full-state constraints. IEEE Transactions on Systems,Man,and Cybernetics:Systems published online, 2020. DOI: 10.1109/TSMC.2020.3003368. [92] X. H. Ge, I. Ahmad, Q. L. Han, J. Wang, X. M. Zhang. Dynamic event-triggered scheduling and control for vehicle active suspension over controller area network. Mechanical Systems and Signal Processing, vol. 152, Article number 107481, 2021. DOI: 10.1016/j.ymssp.2020.107481. [93] D. Simon, T. L. Chia. Kalman filtering with state equality constraints. IEEE Transactions on Aerospace and Electronic Systems, vol. 38, no. 1, pp. 128–136, 2002. DOI: 10.1109/7.993234. [94] E. Mousavinejad, F. W. Yang, Q. L. Han, L. Vlacic. A novel cyber attack detection method in networked control systems. IEEE Transactions on Cybernetics, vol. 48, no. 11, pp. 3254–3264, 2018. DOI: 10.1109/TCYB.2018.2843358. [95] X. X. Yin, D. Yue, S. L. Hu. Adaptive periodic event-triggered consensus for multi-agent systems subject to input saturation. International Journal of Control, vol. 89, no. 4, pp. 653–667, 2016. DOI: 10.1080/00207179.2015.1088967. [96] X. H. Ge, Q. L. Han, Z. D. Wang. A threshold-parameter-dependent approach to designing distributed event-triggered $H_{\infty}$ consensus filters over sensor networks. IEEE Transactions on Cybernetics, vol. 49, no. 4, pp. 1148–1159, 2019. DOI: 10.1109/TCYB.2017.2789296. [97] X. H. Ge, Q. L. Han, and F. W. Yang. Event-based set-membership leader-following consensus of networked multi-agent systems subject to limited communication resources and unknown-but-bounded noise. IEEE Transactions on Industrial Electronics, vol. 64, no. 6, pp. 5045–5054, 2017. DOI: 10.1109/TIE.2016.2613929. [98] Y. X. Li, G. H. Yang. Observer-based fuzzy adaptive event-triggered control codesign for a class of uncertain nonlinear systems. IEEE Transactions on Fuzzy Systems, vol. 26, no. 3, pp. 1589–1599, 2018. DOI: 10.1109/TFUZZ.2017.2735944. [99] F. Z. Li, Y. G. Liu. Adaptive event-triggered output-feedback controller for uncertain nonlinear systems. Automatica, vol. 117, Article number 109006, 2020. DOI: 10.1016/j.automatica.2020.109006. [100] X. H. Ge, Q. L. Han. Distributed formation control of networked multi-agent systems using a dynamic event-triggered communication mechanism. IEEE Transactions on Industrial Electronics, vol. 64, no. 10, pp. 8118–8127, 2017. DOI: 10.1109/TIE.2017.2701778. [101] S. X. Wen, G. Guo, B. Chen, X. E. Gao. Cooperative adaptive cruise control of vehicles using a resource-efficient communication mechanism. IEEE Transactions on Intelligent Vehicles, vol. 4, no. 1, pp. 127–140, 2019. DOI: 10.1109/TIV.2018.2886676. [102] X. Ge, S. Xiao, Q. L. Han, X. M. Zhang, D. Ding. Dynamic event-triggered scheduling and platooning control co-design for automated vehicles over vehicular ad-hoc networks. IEEE/CAA Journal of Automatica Sinica, 2021. DOI: 10.1109/JAS.2021.1004060. [103] E. G. Tian, Z. D. Wang, L. Zou, D. Yue. Probabilistic-constrained filtering for a class of nonlinear systems with improved static event-triggered communication. International Journal of Robust and Nonlinear Control, vol. 29, no. 5, pp. 1484–1498, 2019. DOI: 10.1002/rnc.4447. [104] X. X. Yin, D. Yue, S. L. Hu, H. P. Zhang. Distributed adaptive model-based event-triggered predictive control for consensus of multiagent systems. International Journal of Robust and Nonlinear Control, vol. 28, no. 18, pp. 6180–6201, 2018. DOI: 10.1002/rnc.4370. [105] E. G. Tian, K. Y. Wang, X. Zhao, S. B. Shen, J. L. Liu. An improved memory-event-triggered control for networked control systems. Journal of The Franklin Institute, vol. 356, no. 13, pp. 7210–7223, 2019. DOI: 10.1016/j.jfranklin.2019.06.041. [106] E. G. Tian, C. Peng. Memory-based event-triggering H∞ load frequency control for power systems under deception attacks. IEEE Transactions on Cybernetics, vol. 50, no. 11, pp. 4610–4618, 2020. DOI: 10.1109/TCYB.2020.2972384. [107] I. Ahmad, X. H. Ge, Q. L. Han. Decentralized dynamic event-triggered communication and active suspension control of in-wheel motor driven electric vehicles with dynamic damping. IEEE/CAA Journal of Automatica Sinica, vol. 8, no. 5, pp. 971–986, 2021. DOI: 10.1109/JAS.2021.1003967. [108] C. Peng, M. J. Yang, J. Zhang, M. R. Fei, S. L. Hu. Network-based $H_{\infty}$ control for T-S fuzzy systems with an adaptive event-triggered communication scheme. Fuzzy Sets and Systems, vol. 329, pp. 61–76, 2017. DOI: 10.1016/j.fss.2016.12.011. [109] C. Peng, J. Zhang, H. C. Yan. Adaptive event-triggering H∞ load frequency control for network-based power systems. IEEE Transactions on Industrial Electronics, vol. 65, no. 2, pp. 1685–1694, 2018. DOI: 10.1109/TIE.2017.2726965. [110] K. Tanaka, T. Ikeda, H. O. Wang. Robust stabilization of a class of uncertain nonlinear systems via fuzzy control: Quadratic stabilizability, $H_{\infty}$ control theory, and linear matrix inequalities. IEEE Transactions on Fuzzy Systems, vol. 4, no. 1, pp. 1–13, 1996. DOI: 10.1109/91.481840. [111] Y. L. Mo, R. Chabukswar, B. Sinopoli. Detecting integrity attacks on SCADA systems. IEEE Transactions on Control Systems Technology, vol. 22, no. 4, pp. 1396–1407, 2014. DOI: 10.1109/TCST.2013.2280899. [112] V. L. Do, L. Fillatre, I. Nikiforov, P. Willett. Security of SCADA systems against cyber-physical attacks. IEEE Aerospace and Electronic Systems Magazine, vol. 32, no. 5, pp. 28–45, 2017. DOI: 10.1109/MAES.2017.160047. [113] X. H. Ge, Q. L. Han, X. M. Zhang, D. R. Ding, F. W. Yang. Resilient and secure remote monitoring for a class of cyber-physical systems against attacks. Information Sciences, vol. 512, pp. 1592–1605, 2020. DOI: 10.1016/j.ins.2019.10.057. [114] W. Du, X. L. Yi, J. George, K. H. Johansson, T. Yang. Distributed optimization with dynamic event-triggered mechanisms. In Proceedings of the 57th IEEE Conference on Decision and Control, IEEE, Miami, USA, pp. 969-974, 2018. DOI: 10.1109/CDC.2018.8619311. [115] Y. S. Li, D. W. Gao, W. Gao, H. G. Zhang, J. G. Zhou. Double-mode energy management for multi-energy system via distributed dynamic event-triggered Newton-Raphson algorithm. IEEE Transactions on Smart Grid, vol. 11, no. 6, pp. 5339–5356, 2020. DOI: 10.1109/TSG.2020.3005179. [116] X. Wang, M. Lemmon. Self-triggered feedback control systems with finite-gain $L_{\infty}$ stability. IEEE Transactions on Automatic Control, vol. 54, no. 3, pp. 452–467, 2009. DOI: 10.1109/TAC.2009.2012973. [117] U. Tiberi, C. Fischione, K. H. Johansson, M. D. Di Benedetto. Energy-efficient sampling of networked control systems over IEEE 802.15.4 wireless networks. Automatica, vol. 49, no. 3, pp. 712–724, 2013. DOI: 10.1016/j.automatica.2012.11.046. [118] Y. Tang, H. J. Gao, J. Kurths. Robust $H_{\infty}$ self-triggered control of networked systems under packet dropouts. IEEE Transactions on Cybernetics, vol. 46, no. 12, pp. 3294–3305, 2016. DOI: 10.1109/TCYB.2015.2502619. [119] F. D. Brunner, D. Antunes, F. Allgöwer. Stochastic thresholds in event-triggered control: A consistent policy for quadratic control. Automatica, vol. 89, pp. 376–381, 2018. DOI: 10.1016/j.automatica.2017.12.043. [120] L. Xu, Y. L. Mo, L. H. Xie. Remote state estimation with stochastic event-triggered sensor schedule and packet drops. IEEE Transactions on Automatic Control, vol. 65, no. 11, pp. 4981–4988, 2020. DOI: 10.1109/TAC.2020.3004328. [121] H. Yu, J. Shang, T. W. Chen. On stochastic and deterministic event-based state estimation. Automatica, vol. 123, Article number 109314, 2021. DOI: 10.1016/j.automatica.2020.109314. [122] Y. L. Wang, Q. L. Han. Network-based heading control and rudder oscillation reduction for unmanned surface vehicles. IEEE Transactions on Control Systems Technology, vol. 25, no. 5, pp. 1609–1620, 2017. DOI: 10.1109/TCST.2016.2617321.

### Catalog

###### 通讯作者: 陈斌, bchen63@163.com
• 1.

沈阳化工大学材料科学与工程学院 沈阳 110142

Figures(10)  / Tables(1)

用微信扫码二维码

分享至好友和朋友圈