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

Greedy Synthesis of Event- and Self-Triggered Controls with Control Lyapunov-Barrier Function