This paper studies event-triggered control for disturbed nonlinear systems. A new dual-stage Lyapunov-based event-triggering condition is proposed to cope with the time-varying transmission delays. In the first stage, the ratio of Lyapunov function values at the last two triggering instants is calculated. Then based on the ratio, the corresponding threshold function is selected from two candidate forms. It is proved that the designed event-triggered control system is input-to-state practically stable with respect to the measurement errors and disturbances. Moreover, Zeno behavior is excluded successfully by calculating the lower bound of the minimum inter-event times. Finally, a simulation example is provided to show the feasibility and the effectiveness of the proposed approach.

本文研究了扰动非线性系统的事件触发控制。提出了一种新的基于Lyapunov的双阶段事件触发条件，以应对随时间变化的传输延迟。在第一阶段，计算最后两个触发瞬间的Lyapunov函数值的比率。然后根据比率从两个候选形式中选择相应的阈值函数。实践证明，所设计的事件触发控制系统在测量误差和干扰方面输入到状态实际上是稳定的。此外，通过计算最小事件间隔时间的下限成功排除了芝诺行为。最后，提供了一个仿真实例，说明了该方法的可行性和有效性。