Output-Based Dynamic Event-Triggered Mechanisms for Disturbance Rejection Control of Networked Nonlinear Systems

Sun, Jiankun; Yang, Jun; Li, Shihua; Zheng, Wei Xing

doi:10.1109/tcyb.2018.2877413

Cited by 48 publications

(37 citation statements)

References 39 publications

(76 reference statements)

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“…Nevertheless, the controller will need more computing resources to perform the corresponding calculation for the estimation. For more details on the trade-off between the performance and cost, readers can refer to Sun et al (2018).…”

Section: Methodologiesmentioning

confidence: 99%

On the design of extended state observer-based robust finite controller: For underactuated robotic system with multiple sources of uncertainties

Zhang

2020

Transactions of the Institute of Measurement and Control

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Controlling an underactuated robot is always an important research and engineering issue, especially when the robot is suffering from multiple sources of uncertainties, such as unmodeled dynamics, external disturbance, and parameter uncertainties. To cope with these uncertainties in such uncertain nonlinear systems which is not fully-actuated, this paper proposes a control method that can actively estimate these uncertainties via the extended state observer (ESO), under the scheme of output-feedback control, the lumped uncertainties can be online estimated and actively compensated. Every joint of the underactuated robotic system can robustly reach the pre-given state in finite-time even though there are only fewer joints than the actual number of joints that can be controlled directly. The experimental results demonstrate the control process and validate that the proposed method is feasible for the studied underactuated robotic system.

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Section: Methodologiesmentioning

confidence: 99%

On the design of extended state observer-based robust finite controller: For underactuated robotic system with multiple sources of uncertainties

Zhang

2020

Transactions of the Institute of Measurement and Control

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“…However, the increase of ν often implies that more computing costs needed in the estimation of such approximation. Under this constraint, a study of the accuracy and costs is given in [28].…”

Section: A System Analysismentioning

confidence: 99%

Hölder Condition Based Design of Finite-Time Control Scheme for Underactuated Robotic System Under Time-Varying Disturbance

Song

Shi

2020

IEEE Access

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Controlling an underactuated robot is an attractive research issue as some of the robot joints cannot be controlled directly. Besides, facing the unknown time-varying disturbance, the nature of the plant makes the stability of such uncertain nonlinear system more challenging. This work presents a robust finitetime control scheme that combines Hölder condition based extended state observer and sliding mode control approach to cope with the mentioned issues. The unknown time-varying disturbance and other uncertainties can be well recognized and actively compensated under the proposed scheme. Besides, this control scheme is easy to be implemented due to the small amount of information required. Simulation results demonstrate the performance of the proposed scheme and validate its better robustness and convergent speed compared with other schemes. INDEX TERMS Sliding-mode control, finite-time control, robot control, extended state observer.

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“…A promising solution to save the communication resource is to execute the control tasks according to the performance requirement instead of the elapse of a fixed sampling rate [10][11][12]. Based on the principle, a novel control strategy called event-triggered control has been developed such as to reduce the conflict between the limited communication resource and the transmission times [13][14][15][16]. The main merit of the event-triggered control is that it provides one freedom to regulate the communication transmission rate in the controller design.…”

Section: Introductionmentioning

confidence: 99%

“…What is worse, the Zeno behavior may be induced by an arbitrarily small external disturbance. To address the issue, [14,15] proposed the event-triggered disturbance rejection control strategies by integrating the disturbance estimation and compensation technique in the design of controller for single networked control systems, such that both the communication property and the control performance can be significantly improved. However, for multiagent systems with time-varying disturbances, it still open for the problem of the reduced-order observer based output consensus disturbance rejection via event-triggering mechanism.…”

Section: Introductionmentioning

confidence: 99%

“…3) In contrast with the traditional full-order observer [14,26], the proposed output consensus protocol is designed via distributed reduced-order observers, which do not need to estimate the known states, and can significantly enhance the estimation performance by increasing the bandwidth of observer in the absence of measurement noise [38].…”

Section: Introductionmentioning

confidence: 99%

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Event-triggered output consensus disturbance rejection algorithm for multi-agent systems with time-varying disturbances

Sun

Yang

et al. 2020

Journal of the Franklin Institute

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This study investigates the problem of event-triggered output consensus disturbance rejection for multi-agent systems subject to time-varying disturbances. By virtue of the reduced-order generalized proportional-integral observer (GPIO) technique, a new output consensus disturbance rejection protocol is developed based on the measurement outputs. Taking the limited communication bandwidth into account, the multi-agent system closes the loop under the proposed consensus protocol only when a distributed event-triggering mechanism decides to transmit agent's current output to its neighbors. The proposed output consensus protocol can effectively enhance the robustness against the time-varying disturbances and save the communication resource, since the time-varying disturbances are accurately estimated and compensated. Furthermore, the proposed consensus algorithm does not require continuous communication among the neighboring agents and can successfully avoid the Zeno phenomenon. Finally, the numerical simulation results are presented to verify the effectiveness of the proposed output consensus protocol.

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Output-Based Dynamic Event-Triggered Mechanisms for Disturbance Rejection Control of Networked Nonlinear Systems

Cited by 48 publications

References 39 publications

On the design of extended state observer-based robust finite controller: For underactuated robotic system with multiple sources of uncertainties

On the design of extended state observer-based robust finite controller: For underactuated robotic system with multiple sources of uncertainties

Hölder Condition Based Design of Finite-Time Control Scheme for Underactuated Robotic System Under Time-Varying Disturbance

Event-triggered output consensus disturbance rejection algorithm for multi-agent systems with time-varying disturbances

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