In this work, an event-triggered control problem for a class of networked systems with unmatched uncertainties is investigated based on an active disturbance rejection control approach. To estimate the effect of unmatched uncertainties, a bank of extended state observers with guaranteed convergence is proposed. Based on the obtained estimates, a tracking-differentiator-enabled Zeno-free event-triggering condition is introduced with reduced sampling cost. An event-triggered controller is then designed to guarantee the closed-loop stability of the networked system with unmatched uncertainties, leveraging a backstepping control approach. Implementation issues of the proposed approach are discussed, and the effectiveness of the results is illustrated through experimental results on a DC torque motor platform.

在这项工作中，基于自抗扰控制方法研究了一类具有不匹配不确定性的网络系统的事件触发控制问题。为了估计不匹配的不确定性的影响，提出了一组具有保证收敛的扩展状态观察器。根据获得的估计值，引入了启用跟踪微分器的 Zeno-free 事件触发条件，同时降低了采样成本。然后设计一个事件触发控制器，以利用反步控制方法来保证具有无与伦比不确定性的网络系统的闭环稳定性。讨论了所提出方法的实施问题，并通过直流力矩电机平台上的实验结果说明了结果的有效性。