This paper studies the problem of stabilization of a single-input nonlinearsystem with time-varying delays in both sensing and actuation channels usingevent-triggered control. Our proposed strategy seeks to opportunisticallyminimize the communication cost of stabilization and its design uses predictorfeedback to compensate for arbitrarily large known time-varying delays. Weestablish, using a Lyapunov approach, the global asymptotic stability of theclosed-loop system as long as the open-loop system is globally input-to-statestabilizable in the absence of time delays and event-triggering. We furtherprove that the proposed event-triggered law has inter-event times that areuniformly lower bounded and hence does not exhibit Zeno behavior. For theparticular case of a stabilizable linear system, we show global exponentialstability of the closed-loop system and analyze the trade-off between the rateof exponential convergence and average communication frequency. We illustratethese results in simulation and also examine the properties of the proposedevent-triggered strategy beyond the class of systems for which stabilizationcan be guaranteed.
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