Trigger‐based tracking control for a class of uncertain nonlinear systems via an event‐triggered extended state observer

• Published in: International journal of robust and nonlinear control Vol. 31; no. 1; pp. 287 - 305
• Main Authors: Yang, Yang, Si, Xuefeng, Yue, Dong
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 10.01.2021
• Subjects: Active control; Actuators; Control systems; Disturbances; event‐triggered extended state observer; event‐triggered input; Feedback control; Nonlinear systems; Output feedback; State observers; Time measurement; Tracking control; uncertain nonlinear system; unknown control gain
• ISSN: 1049-8923; 1099-1239
• DOI: 10.1002/rnc.5272

Summary An event‐triggered observer‐based output feedback control issue together with triggered input is investigated for a class of uncertain nonlinear systems subject to unknown external disturbances. Two separate event‐triggered conditions are located on the measurement channel and control channel, respectively. An event‐triggered extended state observer (ETESO) is employed to estimate unmeasurable states and compensate uncertainties and disturbances in real time while it is not required for real‐time output measurement. Then, combined with backstepping method and active disturbance rejection control, an output feedback control scheme is proposed, where an event‐triggered input is developed for reducing the communication rate between the controller and the actuator. The triggered instants are determined by a time‐varying event‐triggered condition. Two simulations, including a numerical example and an permanent‐magnet motor, are illustrated to verify the effectiveness of the proposed schemes.