  In this paper we develop novel results on self triggering control of
nonlinear systems, subject to perturbations and actuation delays. First,
considering an unperturbed nonlinear system with bounded actuation delays, we
provide conditions that guarantee the existence of a self triggering control
strategy stabilizing the closed--loop system. Then, considering parameter
uncertainties, disturbances, and bounded actuation delays, we provide
conditions guaranteeing the existence of a self triggering strategy, that keeps
the state arbitrarily close to the equilibrium point. In both cases, we provide
a methodology for the computation of the next execution time. We show on an
example the relevant benefits obtained with this approach, in terms of energy
consumption, with respect to control algorithms based on a constant sampling,
with a sensible reduction of the average sampling time.
