Disturbance observer-based adaptive event-triggered MPC for a class of nonlinear systems
Minglei Sun1, Baili Su1, Shicheng Su1
1College of Engineering, Qufu Normal University, Rizhao, China.
ISA Transactions
|January 6, 2026
Summary
This study introduces a disturbance observer-based adaptive event-triggered model predictive control (DAEMPC) for nonlinear systems. The method effectively handles disturbances and constraints, ensuring system stability and preventing Zeno behavior.
Area of Science:
- Control Systems Engineering
- Nonlinear System Analysis
- Adaptive Control Theory
Background:
- Nonlinear systems often face challenges with bounded disturbances and state constraints, impacting control performance.
- Existing control methods may struggle to efficiently compensate for complex disturbance dynamics while ensuring stability.
- Event-triggered control strategies offer potential for reducing computational load but require careful design to avoid Zeno behavior.
Purpose of the Study:
- To propose a novel disturbance observer-based adaptive event-triggered model predictive control (DAEMPC) method.
- To effectively manage bounded disturbances and system constraints in nonlinear systems.
- To ensure system stability and prevent Zeno behavior in the proposed control scheme.
Main Methods:
- Utilized a disturbance observer to actively compensate for system disturbances, decomposing them into matched and unmatched parts.
- Designed a bounded controller and an optimal controller with an adaptive event-triggered mechanism based on system state stability.
- Calculated a larger terminal stability estimation set using the bounded controller and performed theoretical analysis to prevent Zeno behavior.
Main Results:
- The proposed DAEMPC method successfully compensates for matched disturbances using the disturbance observer.
- The adaptive event-triggered mechanism effectively addresses unmatched disturbances, maintaining system stability within the estimated set.
- Theoretical analysis confirmed the absence of Zeno behavior, and simulations validated the algorithm's effectiveness on nonlinear systems.
Conclusions:
- The developed DAEMPC provides an effective approach for controlling constrained nonlinear systems with bounded disturbances.
- The integration of disturbance observation and adaptive event-triggered control enhances robustness and efficiency.
- The method demonstrates strong performance and stability guarantees, as verified by numerical examples.
Related Concept Videos
01:26Feedback control systems
684
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
684
01:10Control Systems
1.8K
Control systems are everywhere in contemporary society, influencing diverse applications from aerospace to automated manufacturing. These systems can be found naturally within biological processes, such as blood sugar regulation and heart rate adjustment in response to stress, as well as in man-made systems like elevators and automated vehicles. A control system is essentially a network of subsystems and processes that collaboratively convert specific inputs into desired outputs.
At the heart...
At the heart...
1.8K
01:07Time-Domain Interpretation of PD Control
358
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
Consider the example of control of motor torque. Initially, a positive...
358
01:26PD Controller: Design
604
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
604
01:21Linear Approximation in Time Domain
334
Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
334
01:23Linear time-invariant Systems
859
A system is linear if it displays the characteristics of homogeneity and additivity, together termed the superposition property. This principle is fundamental in all linear systems. Linear time-invariant (LTI) systems include systems with linear elements and constant parameters.
The input-output behavior of an LTI system can be fully defined by its response to an impulsive excitation at its input. Once this impulse response is known, the system's reaction to any other input can be...
The input-output behavior of an LTI system can be fully defined by its response to an impulsive excitation at its input. Once this impulse response is known, the system's reaction to any other input can be...
859