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

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.

Automated summary

This paper investigates an event-triggered observer-based output feedback control issue for uncertain nonlinear systems, utilizing an event-triggered extended state observer to estimate unmeasurable states and compensate uncertainties and disturbances in real time. The proposed scheme combines backstepping method and active disturbance rejection control, with an event-triggered input for reducing communication rate between the controller and actuator, showing effectiveness in simulations.