Year: 2026
Type: preprint
Abstract: We propose an event-triggered zero-order hold implementation of the funnel controller for output reference tracking of unknown nonlinear systems. The control input is updated only when the deviation between the current and the last transmitted input exceeds a prescribed threshold, reducing the number of input updates while maintaining closed-loop performance guarantees by incorporating an auxiliary integral state to compensate for the error introduced by the zero-order-hold input. We establish a uniform lower bound on the inter-event intervals excluding Zeno behavior, and derive a growth condition on the nonlinear dynamics that ensures global existence of the solution for arbitrary, predefined sampling schedules. The theoretical results are illustrated by numerical simulations.
Source: arXiv (Cornell University)
Authors: Schaa, Janina, Berger, Thomas
Institution: Martin Luther University Halle-Wittenberg
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Funder: Deutsche Forschungsgemeinschaft
OpenAlex ID: W7222559234