ADRC-based Event Triggering Control for Switched Nonlinear Systems with Actuator Faults

In this paper, an improved active disturbance rejection control scheme is proposed for a class of switched nonlinear systems with actuator faults by means of event triggering mechanism. To solve the problem of unknown states and unknown global disturbances in complex systems, an extended state observer is constructed to compensate the global disturbances in switched systems in real time. Then, an improved tracking differentiator is proposed, which can not only achieve the excellent tracking performance of the input signal by adjusting the parameters of the tracking differentiator, and the differential explosion problem under backstepping technique can be solved. Moreover, an event triggering algorithm is proposed to compensate the actuator faults of the system under the condition of saving communication resources. The proposed control method can ensure that all signals in the closed-loop system are semi-global ultimately uniformly bounded, and that the output signals track the reference signals well. Finally, simulation results of the classical RLC switching circuit show the effectiveness of the above-mentioned control research.