  This paper studies the problem of stabilization of a nonlinear system with
time-varying delays in both sensing and actuation using event-triggered
control. Our proposed strategy seeks to opportunistically minimize the number
of control updates while guaranteeing stabilization and builds on predictor
feedback to compensate for arbitrarily large known time-varying delays. We
establish, using a Lyapunov approach, the global asymptotic stability of the
closed-loop system as long as the open-loop system is globally input-to-state
stabilizable in the absence of time delays and sampling. We further prove that
the proposed event-triggered law has inter-event times that are uniformly lower
bounded and hence does not exhibit Zeno behavior. For the particular case of a
stabilizable linear system, we show global exponential stability of the
closed-loop system and analyze the trade-off between the rate of exponential
convergence and a bound on the sampling frequency. We illustrate these results
in simulation and also examine the properties of the proposed event-triggered
strategy beyond the class of systems for which stabilization can be guaranteed.
