Output-Based Dynamic Event-Triggered Mechanisms for Disturbance Rejection Control of Networked Nonlinear Systems

This paper proposes a new output-based dynamic event-triggered mechanism (ETM) for disturbance rejection control of a class of networked nonlinear uncertain systems subject to additive time-varying disturbance. In the proposed control method, a new robust output feedback controller is first designed...

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Bibliographic Details
Published inIEEE transactions on cybernetics Vol. 50; no. 5; pp. 1978 - 1988
Main Authors Sun, Jiankun, Yang, Jun, Li, Shihua, Zheng, Wei Xing
Format Journal Article
LanguageEnglish
Published United States IEEE 01.05.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Computer simulation
Control methods
Control stability
Control systems design
Dynamic scheduling
Feedback control
Generalized proportional-integral observer (GPIO)
Hybrid systems
networked nonlinear systems
Nonlinear control
Nonlinear systems
nonlinear uncertainties and disturbances
Observers
Output feedback
output-based dynamic event-triggered mechanism (ETM)
Proportional integral
Rejection
Robot arms
Robust control
Sun
Symmetric matrices
Uncertainty
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Summary:This paper proposes a new output-based dynamic event-triggered mechanism (ETM) for disturbance rejection control of a class of networked nonlinear uncertain systems subject to additive time-varying disturbance. In the proposed control method, a new robust output feedback controller is first designed based on a generalized proportional-integral observer to attenuate/compensate the undesirable influence of nonlinear uncertainties and disturbances. Different from the static ETM, two new dynamic variables are defined, and thereafter, two kinds of different discrete-time dynamic ETMs are developed only using the sampled-data output signal, such that a better tradeoff between the communication properties and the control properties can be obtained. It is shown that under the proposed control methods, the global bounded stability of the closed-loop hybrid system can be guaranteed by choosing some appropriate parameters. Finally, the numerical simulations of a single link robot arm are conducted to demonstrate the feasibility and efficacy of the proposed control approach.
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ISSN:2168-2267
2168-2275
2168-2275
DOI:10.1109/TCYB.2018.2877413