Periodic Event-Triggered Control for Networked Control Systems With External Disturbance and Input and Output Delays
针对存在外部扰动和输入输出时滞的网络化控制系统，提出一种基于预测器的周期性事件触发输出反馈控制方法，能显著减少通信次数并增强抗扰能力，并通过仿真验证了有效性。
This article investigates the problem of periodic event-triggered output-feedback control for networked control systems in the presence of external disturbance and input and output delays. With the aid of the prediction technique, we first develop the predictor-based-extended state observer to reconstruct the system information, including the unknown state and disturbance. The periodic event-triggered output-feedback control law is then designed via the disturbance/uncertainty estimation and attenuation (DUEA) method, such that the communication times can be remarkably reduced and, at the same time, the disturbance rejection ability can be effectively enhanced. Under the predictor-based event-triggered control method, the influence of the time delays is effectively attenuated, and the effect of external disturbance is considerably attenuated due to the prediction technique and the DUEA method. By using the small-gain arguments, this article gives some sufficient stability conditions for the overall control system, and the explicit computations of sampling/updating period and time delays are presented as well. Finally, we employ a practical example and show some comparative simulation results to demonstrate the advantages of the predictor-based event-triggered control method proposed in this article.