Event-triggered active disturbance rejection control for a class of networked systems with unmatched uncertainties: Theoretic and experimental results

Kaixin Cui, Shu Xia Tang, Yuan Huang, Hao Yu, Dawei Shi

Research output: Contribution to journalArticlepeer-review

Abstract

In this work, an event-triggered control problem for a class of networked systems with unmatched uncertainties is investigated based on an active disturbance rejection control approach. To estimate the effect of unmatched uncertainties, a bank of extended state observers with guaranteed convergence is proposed. Based on the obtained estimates, a tracking-differentiator-enabled Zeno-free event-triggering condition is introduced with reduced sampling cost. An event-triggered controller is then designed to guarantee the closed-loop stability of the networked system with unmatched uncertainties, leveraging a backstepping control approach. Implementation issues of the proposed approach are discussed, and the effectiveness of the results is illustrated through experimental results on a DC torque motor platform.

Original languageEnglish
Article number104907
JournalControl Engineering Practice
Volume115
DOIs
StatePublished - Oct 2021

Keywords

  • Active disturbance rejection control
  • Backstepping
  • Event-triggered control
  • Networked system
  • Unmatched uncertainty

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