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

doi:10.1109/JAS.2019.1911654

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	Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems
	Aquib Mustafa; Narendra K. Dhar; Nishchal K Verma
刊名	IEEE/CAA Journal of Automatica Sinica
	2020
卷号	7 期号:1 页码:307-314
关键词	Event-trigger inter execution time stability sliding mode control trajectory tracking
ISSN号	2329-9266
DOI	10.1109/JAS.2019.1911654
英文摘要	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.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42940]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Aquib Mustafa,Narendra K. Dhar,Nishchal K Verma. Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(1):307-314.
APA	Aquib Mustafa,Narendra K. Dhar,&Nishchal K Verma.(2020).Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems.IEEE/CAA Journal of Automatica Sinica,7(1),307-314.
MLA	Aquib Mustafa,et al."Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems".IEEE/CAA Journal of Automatica Sinica 7.1(2020):307-314.