Safety-critical dynamic event-triggered control of nonlinear systems

This paper is concerned with the problem of safety-critical dynamic event-triggered control (ETC) for nonlinear systems. A novel safety-critical dynamic ETC strategy is proposed to simultaneously guarantee event-triggered safety and stability based on the union of input-to-state safe barrier function (ISSf-BF) and input-to-state stable Lyapunov function (ISS-LF). Also, an appropriate dynamic event-triggered mechanism (DETM) is constructed, and Zeno phenomenon of ETC in the safety-critical control framework is definitely excluded based on the DETM constructed. Compared with the existing safety-critical control designed in the framework of continuous-time feedback control, the proposed strategy constructs safety-critical event-triggered controller and an DETM, which greatly alleviates the unnecessary waste of communication and computation resources. Finally, three examples are presented to demonstrate the effectiveness of the proposed design strategy.