Flexible Antidisturbance Control for a Class of Discrete-Time Systems With Packet Loss Based on Conditional Disturbance Utilization

Tracking accuracy is critical for practical applications. However, due to the presence of various disturbances and intermittent information caused by packet losses or network attacks, ensuring tracking precision and speed becomes extremely challenging. Consequently, this article proposes a novel control architecture for output tracking with intermittent information, which includes an intermittent information-based disturbance observer (IIBDO) and a flexible antidisturbance control strategy based on conditional disturbance utilization (CDU). The novel IIBDO addresses the issue of information intermittency by compensating for lost information using available signals and their trends. Building on this, a disturbance diagnosis condition (DDC) is introduced to assess whether disturbances are beneficial to system performance. Through integration of DDC and disturbance estimation, the CDU-based flexible antidisturbance control is designed, enabling the system to utilize disturbances rather than merely rejecting them. Sufficient conditions are derived to ensure both tracking and antidisturbance performance, and the potential stabilizing effects of disturbances on the system are also analyzed using Lyapunov stability theory. Finally, comprehensive simulations and experiments confirm the effectiveness of the IIBDO, and the improvement in tracking performance brought about by CDU is also verified.