Pre-T Event-Triggered Controller with a Gain-Scaling Factor for a Chain of Integrators and Its Extension to Strict-Feedback Nonlinearity

Abstract

We propose a pre-T event-triggered controller (ETC) for the stabilization of a chain of integrators. Our per-T event-triggered controller is a modified event-triggered controller by adding a pre-defined positive constant T to the event-triggering condition. With this pre-T, the immediate advantages are (i) the often complicated additional analysis regarding the Zeno behavior is no longer needed, (ii) the positive lower bound of interexecution times can be specified, (iii) the number of control input updates can be further reduced. We carry out the rigorous system analysis and simulations to illustrate the advantages of our proposed method over the traditional event-triggered control method.