Event-Triggered Coordinated Control Based on Disturbance Observer for Second-Order Nonlinear Systems

This paper investigates an event-triggered coordinated control strategy for second-order nonlinear systems. To estimate the unknown bounded external disturbances, a nonlinear disturbance observer is constructed which can be proved together with the closed-loop system without the separation principle. To reduce the consumption of communication resources, event-triggered control is adopted such that the controller does not need to update continuously. The stability of the disturbance observe and the closed-loop system can be verified by using Lyapunov theorem. The effectiveness of the proposed controller can be verified by numerical results.