Event-Driven Generalized Active Disturbance Rejection Control for Discrete- Time Systems

In this paper, an event-driven generalized active disturbance rejection control (ED-GADRC) for discrete-time systems is proposed to maintain the retention of system performance and the reduction of the data exchange simultaneously. With the trajectory tracking requirement in mind, the system is firstly transformed into an error-based one. Then an incremental form of generalized extended state observer is proposed to estimate the states and disturbance of the system. By using the extended state estimates, an event-driven condition is established in an absolute error threshold way, and the control input updates only when the condition is reached. Moreover, the stability of the proposed scheme is analyzed. Finally, the effectivity in trajectory tracking and disturbance rejection of the proposed control scheme is demonstrated with simulation examples.