Dynamic-triggered-based robust tracking strategy for nonlinear remote servosystems

In this paper, the issue of nonlinear remote servosystem with disturbance is studied. A novel robust tracking strategy based on disturbance observer (DO) and dynamic event-triggered (DET) strategy is proposed. Firstly, a non-homogeneous observer based DO is designed, which can accurately estimate external disturbances and their higher-order derivatives. Secondly, a robust control strategy combines backstepping technique with the idea of sliding-mode is proposed with its stability proofed. Thirdly, to optimize network resources utilization for remote control, a novel DET strategy is proposed, which effectively addresses the issues of low sensitivity and poor flexibility in traditional fixed triggered approach. Finally, simulation results demonstrate the effectiveness of the algorithm.