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Volume 7 Issue 1
Jan.  2020

IEEE/CAA Journal of Automatica Sinica

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Aquib Mustafa, Narendra K. Dhar and Nishchal K Verma, "Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 307-314, Jan. 2020. doi: 10.1109/JAS.2019.1911654
Citation: Aquib Mustafa, Narendra K. Dhar and Nishchal K Verma, "Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 307-314, Jan. 2020. doi: 10.1109/JAS.2019.1911654

Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems

doi: 10.1109/JAS.2019.1911654
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  • In this paper, an event-triggered sliding mode control approach for trajectory tracking problem of nonlinear input affine system with disturbance has been proposed. A second order robotic manipulator system has been modeled into a general nonlinear input affine system. Initially, the global asymptotic stability is ensured with conventional periodic sampling approach for reference trajectory tracking. Then the proposed approach of event-triggered sliding mode control is discussed which guarantees semi-global uniform ultimate boundedness. The proposed control approach guarantees non-accumulation of control updates ensuring lower bounds on inter-event triggering instants avoiding Zeno behavior in presence of the disturbance. The system shows better performance in terms of reduced control updates, ensures system stability which further guarantees optimization of resource usage and cost. The simulation results are provided for validation of proposed methodology for tracking problem by a robotic manipulator. The number of aperiodic control updates is found to be approximately 44% and 61% in the presence of constant and time-varying disturbances respectively.

     

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    Highlights

    • This work presents an event-triggered sliding mode control approach for trajectory tracking problem of nonlinear system under disturbance.
    • The event-triggering condition is derived using Lyapunov theory which ensures accuracy and stability of event-triggered sliding mode control.
    • This work presents admissibility of event-based control updates for real-time controller application.
    • The designed controller shows better performance in terms of reduced control updates, ensures optimization of resource usage and cost.

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