Event-Triggered Active Disturbance Rejection Control: Theory and Applications (Studies in Systems, Decision and Control, 356)

✍ Scribed by Dawei Shi, Yuan Huang, Junzheng Wang, Ling Shi

• Publisher: Springer
• Year: 2021
• Tongue: English
• Leaves: 235
• Category: Library

✦ Synopsis

The past few years have seen the attention and rapid developments in event-triggered sampled-data systems, in which the effect of event-triggered sensor measurements and controller updates is explored in controller analysis and design.
This book offers the first systematic treatment of event-triggered sampled-data control system design using active disturbance rejection control (ADRC), an effective approach that is popular in both theoretic research and industrial applications. Extensive application examples with numerous illustrations are included to show how the event-triggered ADRC with theoretic performance guarantees can be implemented in engineering systems and how the performance can be actually achieved. For theoretic researchers and graduate students, the presented results provide new directions in theoretic research on event-triggered sampled-data systems; for control practitioners, the book offers an effective approach to achieving satisfactory performance with limited sampling rates.

✦ Table of Contents

Preface
Contents
Acronyms
1 Introduction
1.1 Event-Based Sampled-Data Control
1.1.1 Sampled-Data Systems
1.1.2 Event-Based Sampling and Control
1.2 Active Disturbance Rejection Control
1.2.1 Functions fhan and fal
1.2.2 Tracking Differentiator
1.2.3 Extended State Observer
1.2.4 Nonlinear Feedback
1.3 Related Literature
1.3.1 Event-Based Sampled-Data Control
1.3.2 Active Disturbance Rejection Control
1.3.3 Event-Based Active Disturbance Rejection Control
1.4 Organization of the Book
References
Part I Theoretic Developments
2 Performance Assessment of Discrete-Time Extended State Observers
2.1 Problem Formulation
2.1.1 Discrete-Time Nonlinear System
2.1.2 Discrete-Time Extended State Observer
2.1.3 Description of the Problem
2.2 Observation Performance Analysis of Discrete-Time Extended State Observer
2.2.1 Gain Parameters Design Based on Spectral Radius Method
2.2.2 Observation Performance Analysis Through Ellipsoidal Set Approach
2.2.3 Extensions and Special Cases
2.3 Numerical Example
2.4 Experimental Results
2.5 Summary
References
3 Event-Triggered Extended State Observer
3.1 Problem Formulation
3.1.1 Continuous-Time Nonlinear System
3.1.2 Event-Triggered Extended State Observer
3.1.3 ET-ESO Design Problem
3.2 Main Theoretic Results
3.2.1 Event-Triggering Condition Design
3.2.2 Non-existence of Zeno Phenomenon
3.2.3 Convergence Analysis of Event-Triggered Extended State Observer
3.2.4 Other Extensions
3.2.5 Event-Triggered Extended State Observer with Designed Initial Value
3.3 Numerical Example
3.3.1 Observation Performance Verification for ET-ESO
3.4 Summary
References
4 Event-Triggered Active Disturbance Rejection Control
4.1 Problem Description
4.2 Event-Triggered Control Based on Continuous-Time Observations
4.3 Separate Event-Triggered Observation and Control
4.4 Experimental Results
4.5 Summary
References
5 A High-Gain Approach to Event-Triggered Control
5.1 Problem Formulation
5.2 Theoretic Results
5.3 Discussions on Special Sampling Schemes
5.3.1 Case 1: Only Sampling Output
5.3.2 Case 2: Only Sampling Control Signal
5.4 Numerical Example
5.5 Experimental Performance Evaluation
5.6 Summary
References
Part II Applications
6 Event-Triggered Active Disturbance Rejection Control of DC Torque Motors
6.1 Background
6.2 Problem Description and System Dynamics
6.3 Event-Triggered ADRC Design
6.4 Experimental Performance Evaluation
6.4.1 Experimental Results with Squarewave-Type Input
6.4.2 Experimental Results with Multitone Sinusoid Input
6.5 Summary
References
7 Event-Triggered ADRC for Electric Cylinders with PD-Type Event-Triggering Conditions
7.1 Background
7.2 Nonlinear Modeling and Problem Formulation
7.3 Event-Triggered ADRC of Electric Cylinders
7.4 Experiment Results
7.4.1 Squarewave-Type Reference
7.4.2 Multitone Sinusoid Reference
7.5 Discussion
References
8 Event-Triggered Attitude Tracking for Rigid Spacecraft
8.1 Background
8.2 Problem Formulation
8.3 ET-ADRC Design
8.4 Numerical Evaluation
8.4.1 Desired Angular Velocity in Sinusoidal Form
8.4.2 Desired Angular Velocity in Square Wave Form
8.5 Summary
References
9 Event-Triggered Adaptive Disturbance Rejection for Artificial Pancreas
9.1 Background
9.2 Related Literature
9.3 Controller Structure Design
9.3.1 Time-Optimal Control Synthesis Function
9.3.2 Tracking Differentiator
9.3.3 Extended State Observer
9.3.4 Nonlinear Feedback
9.3.5 Safety Constraints
9.3.6 Pump-Discretization
9.4 Event-Triggered Parameter Adaptation for ADRC
9.4.1 Adaptation of ESO and IOB
9.4.2 Parameter Adaptation for Nonlinear Feedback
9.4.3 Parameter Design
9.5 In Silico Performance Analysis
9.5.1 Announced Meals with Nominal Basal Rate
9.5.2 Unannounced Meals with Nominal Basal Rate
9.5.3 Robust Performance Evaluation
9.6 Summary
References
10 Summary and Future Work
Correction to: Event-Triggered Active Disturbance Rejection Control
Correction to: D. Shi et al., Event-Triggered Active Disturbance Rejection Control, Studies in Systems, Decision and Control 356, https://doi.org/10.1007/978-981-16-0293-1