Equivalent-input-disturbance estimator-based event-triggered control design for master–slave neural networks

Abstract

This paper investigates the robust synchronization problem for a class of master–slave neural networks (MSNNs) subject to network-induced delays, unknown time-varying uncertainty, and exogenous disturbances. An equivalent-input-disturbance (EID) estimation technique is applied to compensate for the effects of unknown uncertainty and disturbances in the system output. In addition, to reduce the burden of the communication channel in the addressed MSNNs and improve the utilization of bandwidth an event-triggered control protocol is developed to obtain the synchronization of MSNNs. In particular, event-triggering conditions are verified periodically at every sampling instant in both sensors and actuators to avoid the Zeno behavior in the networks. By designing an appropriate low-pass filter in the EID estimator block, the accuracy of disturbance estimation performance is improved. Moreover, by concatenating the synchronization error, observer, and filter states as a single state vector, an augmented system is formulated. Then the tangible delay-dependent stability condition for that augmented system is established by employing the Lyapunov stability theory and reciprocally convex approach. Based on the feasible solutions of the derived stability conditions, the event-triggering parameters, controller, and observer gains are co-designed. Finally, two toy examples are given to illustrate the established theoretical findings.