Event-triggered tracking control for nonlinear systems subject to time-varying external disturbances

Abstract Event-triggered tracking control for a class of nonlinear systems with disturbances is investigated in this paper. Compared to existing related results, the nonlinearities only need to satisfy a generalized Lipschitz condition, and the time-varying external disturbances are allowed to be unmatched. By using finite-time disturbance observers, the finite-time estimation of the steady states is achieved to reduce the complexity of tracking control design. The event-triggered controller is designed by a new feedback domination approach, which can dynamically compensate for both errors caused by disturbances and the sampled-data implementation of the controller. A new Lyapunov stability analysis is given to show that all the signals of the closed-loop system are globally bounded and the tracking error is ensured to converge to a set, which can be made as small as desired by adjusting control parameters. Finally, a numerical example demonstrates the effectiveness of the designed scheme.

[1]  A. Isidori.  Nonlinear Control Systems , 1985 .

[2]  A. Isidori,et al.  Output regulation of nonlinear systems , 1990 .

[3]  C. Qian,et al.  A generalized homogeneous domination approach for global stabilization of inherently nonlinear systems via output feedback , 2007 .

[4]  Jie Huang,et al.  Nonlinear Output Regulation: Theory and Applications , 2004 .

[5]  Wei Lin,et al.  Disturbance attenuation of a class of non‐linear systems via output feedback , 2003 .

[6]  Paulo Tabuada,et al.  Event-Triggered Real-Time Scheduling of Stabilizing Control Tasks , 2007, IEEE Transactions on Automatic Control.

[7]  Mo-Yuen Chow,et al.  Overview of Networked Control Systems , 2008 .

[8]  Fanghong Guo,et al.  Event-Based Consensus for Linear Multiagent Systems Without Continuous Communication , 2017, IEEE Transactions on Cybernetics.

[9]  Xinghuo Yu,et al.  Continuous Finite-Time Output Regulation for Disturbed Systems Under Mismatching Condition , 2015, IEEE Transactions on Automatic Control.

[10]  Nicolas Marchand,et al.  A General Formula for Event-Based Stabilization of Nonlinear Systems , 2013, IEEE Transactions on Automatic Control.

[11]  Wei Wang,et al.  Digital Event-Based Control for Nonlinear Systems Without the Limit of ISS , 2017, IEEE Transactions on Circuits and Systems II: Express Briefs.

[12]  Dragan Nesic,et al.  Robust event-triggered output feedback controllers for nonlinear systems , 2017, Autom..

[13]  Pavankumar Tallapragada,et al.  On Event Triggered Tracking for Nonlinear Systems , 2013, IEEE Transactions on Automatic Control.

[14]  Eloy García,et al.  Model-based event-triggered control with time-varying network delays , 2011, IEEE Conference on Decision and Control and European Control Conference.

[15]  James Moyne,et al.  Performance evaluation of control networks: Ethernet, ControlNet, and DeviceNet , 2001 .

[16]  W. P. M. H. Heemels,et al.  Event-Separation Properties of Event-Triggered Control Systems , 2014, IEEE Transactions on Automatic Control.

[17]  Eugênio B. Castelan,et al.  Event-triggered tracking control of unicycle mobile robots , 2015, Autom..

[18]  Lei Guo,et al.  Neural Network-Based DOBC for a Class of Nonlinear Systems With Unmatched Disturbances , 2017, IEEE Transactions on Neural Networks and Learning Systems.

[19]  Zhong-Ping Jiang,et al.  A Small-Gain Approach to Robust Event-Triggered Control of Nonlinear Systems , 2015, IEEE Transactions on Automatic Control.

[20]  Hongye Su,et al.  Event-Triggered Adaptive Control for a Class of Uncertain Nonlinear Systems , 2017, IEEE Transactions on Automatic Control.

[21]  Zhengtao Ding,et al.  Continuous Finite-Time Output Regulation of Nonlinear Systems With Unmatched Time-Varying Disturbances , 2018, IEEE Control Systems Letters.

[22]  W. P. M. H. Heemels,et al.  Analysis of event-driven controllers for linear systems , 2008, Int. J. Control.

[23]  Christophe Prieur,et al.  Stability Analysis of Output Feedback Control Systems With a Memory-Based Event-Triggering Mechanism , 2017, IEEE Transactions on Automatic Control.

[24]  Nicolas Marchand,et al.  Stability of non-linear systems by means of event-triggered sampling algorithms , 2014, IMA J. Math. Control. Inf..

[25]  Paulo Tabuada,et al.  A Framework for the Event-Triggered Stabilization of Nonlinear Systems , 2015, IEEE Transactions on Automatic Control.

[26]  M. Egerstedt,et al.  On the regularization of Zeno hybrid automata , 1999 .

[27]  Zhong-Ping Jiang,et al.  Event-based control of nonlinear systems with partial state and output feedback , 2015, Autom..

[28]  Ting Li,et al.  A unified time-varying feedback approach and its applications in adaptive stabilization of high-order uncertain nonlinear systems , 2016, Autom..

[29]  W. P. M. H. Heemels,et al.  Output-Based Event-Triggered Control With Guaranteed ${\cal L}_{\infty}$-Gain and Improved and Decentralized Event-Triggering , 2012, IEEE Transactions on Automatic Control.

[30]  K. Åström,et al.  Comparison of Periodic and Event Based Sampling for First-Order Stochastic Systems , 1999 .

[31]  Anton Cervin,et al.  Sporadic event-based control of first-order linear stochastic systems , 2008, Autom..

[32]  Christopher Edwards,et al.  Sliding Mode Control and Observation , 2013 .

[33]  Hongye Su,et al.  Adaptive compensation for actuator failures with event-triggered input , 2017, Autom..

[34]  Paulo Tabuada,et al.  An introduction to event-triggered and self-triggered control , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[35]  Jing Zhang,et al.  Adaptive Neural Network Finite-Time Output Feedback Control of Quantized Nonlinear Systems , 2018, IEEE Transactions on Cybernetics.