This paper addresses the co-design problem of control inputs and execution decisions for event- and self-triggered controls subject to constraints given by the control Lyapunov function and control barrier function. The proposed approach computes the control input in a way that allows for longer inter-execution intervals, which distinguishes it from many existing event- and self-triggered controllers or control Lyapunov-barrier function controllers. The proposed approach guarantees lower bounds on the minimum inter-execution times. The effectiveness of the proposed approach is demonstrated and compared with existing approaches using a numerical example.

翻译：本文针对事件触发与自触发控制中，受控制李雅普诺夫函数与控制障碍函数约束的控制输入与执行决策联合设计问题展开研究。所提出的方法通过优化控制输入以延长执行间隔，这区别于现有的事件触发与自触发控制器或控制李雅普诺夫-障碍函数控制器。该方法能保证最小执行间隔的下界。通过数值算例验证了所提方法的有效性，并与现有方法进行了对比分析。