Event-Triggered Sampled-Data Control: An Active Disturbance Rejection Approach

The problem of event-triggered sampled-data control for networked systems is considered in this article. A nonlinear continuous-time system with uncertainty and disturbance is introduced, for which an event-triggered control problem based on an active disturbance rejection control approach is formulated. We first present the framework of the closed-loop system in which the control signal is transmitted at each event instant while the output measurements are transmitted in real time. Based on this framework, an easy-to-implement event-triggering strategy that relies on the state observation generated by an extended state observer is proposed, so that the asymptotic boundedness of the observation error is obtained and the stability of the closed-loop system can be guaranteed. Then, with some mild restrictions on initial values of the observer and plant, the boundedness of observation error can be maintained at any time. Finally, we extend the obtained results to a more general case in which the transmission of the measurements and control inputs are determined by separate event-triggering strategies. The performance of the proposed method is verified through experimental results on a direct current motor loading platform.