Event-triggered active disturbance rejection control for nonlinear stochastic systems

This paper investigates stabilization problem for a class of nonlinear systems subject to stochastic disturbance. An event-triggered active disturbance rejection controller is proposed to ensure that the closed-loop system's states are mean-square bounded. The controller only utilizes sampled states of extended state observer and updates its value unless the triggering condition is satisfied. To exclude the Zeno behavior of the sampling, we prove the existence of a lower bound of the minimum inter-event interval. A numerical example is included to illustrate the effectiveness of the theoretical results.