Exploiting Isochrony in Self-Triggered Control

Event-triggered control and self-triggered control have been recently proposed as new implementation paradigms that reduce resource usage for control systems. In self-triggered control, the controller is augmented with the computation of the next time instant at which the feedback control law is to be recomputed. Since these execution instants are obtained as a function of the plant state, we effectively close the loop only when it is required to maintain the desired performance, thereby greatly reducing the resources required for control. In this paper we present a new technique for the computation of the execution instants by exploiting the concept of isochronous manifolds, also introduced in this paper. While our previous results showed how homogeneity can be used to compute the execution instants along some directions in the state space, the concept of isochrony allows us to compute the executions instants along every direction in the state space. Moreover, we also show in this paper how to homogenize smooth control systems thus making our results applicable to any smooth control system. The benefits of the proposed approach with respect to existing techniques are analyzed in two examples.