Predictor-Based Extended State Observer for Decentralized Event-Triggered Control of Large-Scale Systems With Input and Output Delays

In this article, we investigate the problem of decentralized event-triggered control for large-scale systems with disturbances and input and output delays. By using the decentralized sampled-data outputs, a set of predictor-based extended state observers is first proposed to estimate the unknown states and disturbances. Thanks to the proposed predictor-based observers, the undesirable influences of both input and output delays on control performance can be effectively attenuated. With the help of disturbance estimation and attenuation technique, a set of robust sampled-data controllers is then proposed based on discrete-time event-triggering conditions, such that the disturbance rejection ability of the large-scale systems can be considerably enhanced while saving the transmission times. The stability analysis is presented to guarantee the stability of the resultant closed-loop control system, and we give the quantitative relationship of control parameters and maximum allowable intersample time interval and input and output delays. Finally, the simulation results of a numerical example are presented to verify the effectiveness of the proposed control method.