Open AccessEvent‐triggered sliding mode‐based tracking control for uncertain Euler–Lagrange systems
Author(s) -
Kumari Kiran,
Behera Abhisek K.,
Bandyopadhyay Bijnan
Publication year - 2018
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2017.1114
Subject(s) - control theory (sociology) , controller (irrigation) , computer science , sliding mode control , trajectory , lyapunov function , tracking (education) , stability (learning theory) , lyapunov stability , robust control , control system , control engineering , control (management) , engineering , nonlinear system , artificial intelligence , psychology , pedagogy , physics , quantum mechanics , electrical engineering , astronomy , machine learning , agronomy , biology
In this study, the authors present a robust trajectory tracking control for a class of uncertain Euler–Lagrange (EL) systems using event‐triggered‐based sliding mode strategy. Here, the sliding mode‐based tracking control is designed to ensure the robust stability of EL systems in the presence of external disturbances/uncertainties. Unlike periodic implementation, in event‐triggering strategy, the control signal is updated on demand subject to system stability, so the frequent periodic execution of control tasks is avoided. Here, the event‐triggered implementation of the sliding mode‐based tracking control achieves the robust stability with desired steady‐state performance and reduced computations of control. To realise this, sufficient conditions are derived using Lyapunov analysis such that the proposed controller yields desired tracking performance. It is shown that the triggering condition proposed here ensures Zeno free execution of triggering sequence. Finally, the theoretical development of the study is illustrated through numerical simulation on a two‐link robotic manipulator.