Abstract This work proposes an event-triggered active disturbance rejection control method for electric cylinder systems. Through analyzing the dynamics, disturbances, and uncertainties of an electric cylinder system with roller-screw, a proportional–derivative-type (PD-type) event-triggered sampler together with the corresponding extended state observer is introduced. The event-triggering condition is designed considering not only the size but also the trend of tracking error, based on which the nonexistence of Zeno behavior is proved. With the observation results, a closed-loop controller with guaranteed stable tracking performance is further designed. The control method is verified on an electric cylinder control system, and comparative experimental results indicate that for different reference signals, the proposed event-triggered controller can achieve satisfactory tracking performance for the electric cylinder system at a reduced sampling cost.

中文翻译：

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具有PD型事件触发条件的电动缸自抗扰控制

摘要 本文提出了一种用于电动缸系统的事件触发自抗扰控制方法。通过分析滚柱丝杠电动缸系统的动力学、扰动和不确定性，介绍了一种比例微分型（PD型）事件触发采样器以及相应的扩展状态观测器。事件触发条件的设计不仅考虑了跟踪误差的大小，还考虑了跟踪误差的趋势，在此基础上证明了Zeno行为不存在。根据观测结果，进一步设计了具有稳定跟踪性能的闭环控制器。该控制方法在电动缸控制系统上得到验证，对比实验结果表明，对于不同的参考信号，