A Dynamic Proportional-Integral-Based Event-Triggered Output Feedback Control Framework for Networked Mechatronic Systems

In this article, two dynamic proportional-integral (DPI) event-triggering mechanisms (ETMs) are proposed for both the disturbance observation and output feedback control of a class of networked mechatronic systems. First, we consider the accumulative errors of output and control samplings in the ETMs of the sensor/observer and controller/actuator channels, respectively, which are embodied in two positive integral terms. Then, an auxiliary variable associated with the sampling error is designed to enlarge the threshold dynamically for each channel, which can be proved to provide larger interevent times than its static counterpart. Furthermore, a codesign approach for the observer, the controller, and the DPI-type ETMs are developed so that the observation error and the system state are uniformly ultimately bounded. The closed-loop stability is proved theoretically by designing compact invariant sets based on the Lyapunov approach, and the Zeno-freeness of the DPI-type ETMs is also guaranteed. Finally, the numerical examples and comparative experiments on an ultrasonic motor platform show the effectiveness of the proposed DPI-type ETMs in improving the closed-loop performance and reducing the communication rates compared with the static counterparts and the classic proportional-type ETMs.