Event-Triggered Active Disturbance Rejection Control for Uncertain Random Nonlinear Systems
arxiv(2023)
Abstract
In this paper, event-triggered active disturbance rejection control (ADRC) is
first addressed for a class of uncertain random nonlinear systems driven by
bounded noise and colored noise. The event-triggered extended state observer
(ESO) and ADRC controller are designed, where two respective event-triggering
mechanisms with a fixed positive lower bound for the inter-execution times are
proposed. The random total disturbance representing the coupling of nonlinear
unmodeled dynamics, external deterministic disturbance, bounded noise, and
colored noise is estimated in real time by the event-triggered ESO and
compensated in the event-triggered feedback loop. Both the mean square and
almost surely practical convergence of the closed-loop systems is shown with
rigorous theoretical analysis. Finally, some numerical simulations are
implemented to validate the proposed control scheme and theoretical results.
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