Lyapunov-based Triggering Mechanisms for Event-triggered Control

In this paper, a new event-triggering scheme is proposed for a class of event-triggered control systems directly based on input-to-state stable Lyapunov functions. This class is characterized by a constructed decreasing function which is the upper bound of the suitably chosen ISS Lyapunov funtion. It is proven that, compared with the dynamic event-triggering mechanism reported in the literature, this new scheme can ensure a larger minimum interevent time with the same decay rate of the trajectory of the resultant closed-loop system, which is demonstrated through a numerical example.