Periodic Event-Triggered Sampling and Dual-Rate Control for a Wireless Networked Control System With Applications to UAVs

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[EN] In this paper, periodic event-triggered sampling and dual-rate control techniques are integrated in a wireless networked control system (WNCS), where time-varying network-induced delays and packet disorder are present. Compared to the conventional time-triggered sampling paradigm, the control solution is able to considerably reduce network utilization (number of transmissions), while retaining a satisfactory control performance. Stability for the proposed WNCS is ensured using linear matrix inequalities. Simulation results show the main benefits of the control approach, which are experimentally validated by means of an unmanned-aerial-vehicle-based test-bed platform.