Event-triggered active disturbance rejection control for uncertain random nonlinear systems

In this paper, event-triggered active disturbance rejection control (ADRC) is first addressed for a class of uncertain random nonlinear systems driven by bounded noise and colored noise. The event-triggered extended state observer (ESO) and ADRC controller are designed, where two respective event-triggering mechanisms with a positive constant lower bound for the inter-execution times are proposed. The random total disturbance encompassing the coupling of nonlinear unmodeled dynamics, external deterministic disturbance, bounded noise, and colored noise is estimated in real time by the event-triggered ESO and compensated in the event-triggered feedback loop. The mean square practical convergence of the closed-loop systems are shown with rigorous theoretical analysis. Finally, some numerical simulations are implemented to validate the proposed control scheme and confirm the theoretical result.