Event-triggered predictive control of nonlinear stochastic systems with output delay

Yang, Xuetao; Wang, Hua; Zhu, Quanxin

doi:10.1016/j.automatica.2022.110230

Cited by 52 publications

(22 citation statements)

References 37 publications

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“…Therefore, ADRC is no longer able to manipulate this mismatched disturbance as before. For instance, the following nonlinear model belongs to a class of uncertain nonlinear systems in a lower triangular form with mismatched disturbance [ 30 , 31 , 32 , 33 , 34 , 35 ],

where

is the system state,

is the measured output,

is the control input,

is the unknown exogenous disturbance, and

is the control coefficient. The function

.…”

Section: Mismatched Disturbancesmentioning

confidence: 99%

A New Nonlinear Dynamic Speed Controller for a Differential Drive Mobile Robot

Hameed

Abbud

Abdulsaheb³

et al. 2023

Entropy

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A disturbance/uncertainty estimation and disturbance rejection technique are proposed in this work and verified on a ground two-wheel differential drive mobile robot (DDMR) in the presence of a mismatched disturbance. The offered scheme is the an improved active disturbance rejection control (IADRC) approach-based enhanced dynamic speed controller. To efficiently eliminate the effect produced by the system uncertainties and external torque disturbance on both wheels, the IADRC is adopted, whereby all the torque disturbances and DDMR parameter uncertainties are conglomerated altogether and considered a generalized disturbance. This generalized disturbance is observed and cancelled by a novel nonlinear sliding mode extended state observer (NSMESO) in real-time. Through numerical simulations, various performance indices are measured, with a reduction of 86% and 97% in the ITAE index for the right and left wheels, respectively. Finally, these indices validate the efficacy of the proposed dynamic speed controller by almost damping the chattering phenomena and supplying a high insusceptibility in the closed-loop system against torque disturbance.

show abstract

where

is the system state,

is the measured output,

is the control input,

is the unknown exogenous disturbance, and

is the control coefficient. The function

.…”

Section: Mismatched Disturbancesmentioning

confidence: 99%

A New Nonlinear Dynamic Speed Controller for a Differential Drive Mobile Robot

Hameed

Abbud

Abdulsaheb³

et al. 2023

Entropy

View full text Add to dashboard Cite

show abstract

“…Unlike traditional time-triggered mechanisms, an event-triggered one transmits information only when needed. It effectively alleviates the problems of network congestion and waste of resources, and has attracted widespread attention from scholars [ 6 , 7 , 8 , 9 , 10 ].…”

Section: Introductionmentioning

confidence: 99%

Event-Triggered Kalman Filter and Its Performance Analysis

Hao

2023

Sensors

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In estimationof linear systems, an efficient event-triggered Kalman filter algorithm is proposed. Based on the hypothesis test of Gaussian distribution, the significance of the event-triggered threshold is given. Based on the threshold, the actual trigger frequency of the estimated system can be accurately set. Combining the threshold and the proposed event-triggered mechanism, an event-triggered Kalman filter is proposed and the approximate estimation accuracy can also be calculated. Whether it is a steady system or a time-varying system, the proposed algorithm can reasonably set the threshold according to the required accuracy in advance. The proposed event-triggered estimator not only effectively reduces the communication cost, but also has high accuracy. Finally, simulation examples verify the correctness and effectiveness of the proposed algorithm.

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“…On the other hand, increasing effort has been paid to the study of event-triggered control (ETC) of nonlinear stochastic systems due to their significance in science and engineering applications. Many important results have been presented for event-triggered control of nonlinear stochastic systems in references [16]- [24]. Dynamic event-triggered control, dynamic self-triggered control and event-triggered stability were investigated for a class of nonlinear stochastic systems by introducing an additional internal dynamic variable in [16] [17].…”

Section: Introductionmentioning

confidence: 99%

“…Dynamic event-triggered control, dynamic self-triggered control and event-triggered stability were investigated for a class of nonlinear stochastic systems by introducing an additional internal dynamic variable in [16] [17]. Based on eventtriggered predictive control (ETPC) scheme, a novel discrete-time feedback law was designed for the stabilization of continuous-time stochastic systems with output delay in [24]. The input-to-state practically exponential mean-square stability of stochastic nonlinear delay systems with exogenous disturbances was provided and a framework of event-triggered stabilization was received for the stochastic systems without applying the well-known Lyapunov theorem respectively in [18] and [21].…”

Section: Introductionmentioning

confidence: 99%

Event-Triggered Finite-Time <i>H</i><sub>∞</sub> Filtering for Discrete-Time Nonlinear Stochastic Systems

Zhang¹,

Yan²

2023

JAMP

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This paper addresses the problem of event-triggered finite-time H ∞ filter design for a class of discrete-time nonlinear stochastic systems with exogenous disturbances. The stochastic Lyapunov-Krasoviskii functional method is adopted to design a filter such that the filtering error system is stochastic finite-time stable (SFTS) and preserves a prescribed performance level according to the pre-defined event-triggered criteria. Based on stochastic differential equations theory, some sufficient conditions for the existence of H ∞ filter are obtained for the suggested system by employing linear matrix inequality technique.Finally, the desired H ∞ filter gain matrices can be expressed in an explicit form.

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Event-triggered predictive control of nonlinear stochastic systems with output delay

Cited by 52 publications

References 37 publications

A New Nonlinear Dynamic Speed Controller for a Differential Drive Mobile Robot

A New Nonlinear Dynamic Speed Controller for a Differential Drive Mobile Robot

Event-Triggered Kalman Filter and Its Performance Analysis

Event-Triggered Finite-Time <i>H</i><sub>∞</sub> Filtering for Discrete-Time Nonlinear Stochastic Systems

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Event-triggered predictive control of nonlinear stochastic systems with output delay

Cited by 52 publications

References 37 publications

A New Nonlinear Dynamic Speed Controller for a Differential Drive Mobile Robot

A New Nonlinear Dynamic Speed Controller for a Differential Drive Mobile Robot

Event-Triggered Kalman Filter and Its Performance Analysis

Event-Triggered Finite-Time &lt;i&gt;H&lt;/i&gt;&lt;sub&gt;∞&lt;/sub&gt; Filtering for Discrete-Time Nonlinear Stochastic Systems

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Event-Triggered Finite-Time <i>H</i><sub>∞</sub> Filtering for Discrete-Time Nonlinear Stochastic Systems