On event-triggered ADRC for uncertain systems: Framework, design and analysis

Abstract

In this paper, we propose a composite framework that combines active disturbance rejection control (ADRC) and event-triggered mechanism (ETM) to address the signal-tracking problem in uncertain systems while reducing communication resource consumption. The framework, referred to as event-triggered ADRC (ET-ADRC), utilizes independent ETMs for the sensor and controller, allowing for effective handling of uncertainties while conserving communication resources. Two variants of ET-ADRC are explored: one based on a static event-triggered mechanism and another on a dynamic event-triggered mechanism. For the static ET-ADRC framework, we provide a rigorous proof of the closed-loop system’s stability and analyze the impact of ETMs on control performance. Additionally, we demonstrate that the proposed method effectively prevents Zeno behavior. Similarly, for the dynamic ET-ADRC framework, we establish results regarding closed-loop system stability, the influence of ETMs on control performance, and the avoidance of Zeno behavior. Notably, we show that by adjusting one of the dynamic event-triggered mechanism parameters, the decoupling of trigger frequency and closed-loop performance can be realized.