Dynamic quantization-based event-triggered control with predictor feedback approach in the presence of unknown time-varying sensing delay

In this paper, an event-triggered control system in the presence of quantized feedback and sensing delay is investigated. In this control system, the system state variables are sampled based on an event-triggered strategy and then quantized by a uniform dynamic quantizer in the presence of an unknown time-varying sensing delay. Also, the quantized sampled state variables are transmitted to a delay-independent truncated predictor feedback (DITPF) controller. It is shown that if the sensing delay is less than an obtained upper bound, the asymptotic stability of the control system with the event-based quantized feedback controller and its robustness to the unknown time-varying delay and quantization error are guaranteed. In addition, the non-occurrence of the Zeno behavior is confirmed by finding a lower bound for inter-event times. Moreover, the applicability and effectiveness of the proposed method are illustrated by numerical simulation and hardware-in-the-loop experimental results.