Dynamic Self-Triggered Control for Linear Systems Based on Hierarchical Strategy*

In this paper, a dynamic self-triggered mechanism based on the hierarchical strategy is proposed for linear systems to reduce communication resource utilization. Specifically, a hierarchical structure is employed, where the upper trigger layer calculates the maximum allowable triggering interval value while ensuring system stability. To further reduce the number of triggers, a dynamic variable is introduced for the construction of the dynamic self-triggered mechanism, which greatly reduces the waste of communication resources. Within each inter-execution interval computed in the upper layer, the lower control layer determines the optimal control input by minimizing the given objective function. Through the collaboration between the triggering layer and the control layer, the number of system samples is significantly reduced, and the convergence time of the system state trajectory is shortened. The effectiveness of this proposed method is demonstrated through a numerical simulation example.