Event-Triggered Control for Servo Motor Systems Based on Fully Actuated System Approach and Dynamical Compensator

This article studies the event-triggered control (ETC) of servo motor systems based on fully actuated system (FAS) approach. The dynamics of servo systems is first simplified as a second-order FAS model, with which the control law can be synthesized for a desired tracking error dynamics in a very simple and straightforward way. To save the communication resource in networked control system (NCS), an ETC scheme is applied with a fixed threshold strategy, and a hyperbolic tangent function is employed to guarantee the exponential stability of the control system. Unfortunately, various uncertainties and disturbances in actual systems may severely degrade the tracking accuracy. To overcome this issue, a general dynamical compensator is utilized to better suppress the unknown disturbances. Furthermore, the stability of the control system is analyzed in the presence of parameter uncertainties. Simulation experiments are implemented on a practical servo motor with NCS to verify the effectiveness and superiority of the proposed control scheme.