Event-triggered sliding mode-based tracking control for uncertain Euler–Lagrange systems

• Published in: IET control theory & applications Vol. 12; no. 9; pp. 1228 - 1235
• Main Authors: Kumari, Kiran, Behera, Abhisek K, Bandyopadhyay, Bijnan
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 12.06.2018
• Subjects: control system synthesis; EL systems; event‐triggered sliding mode‐based tracking control; Lyapunov analysis; Lyapunov methods; manipulators; Research Article; robust stability; robust trajectory tracking control; steady‐state performance; trajectory control; two‐link robotic manipulator; uncertain Euler‐Lagrange systems; uncertain systems; variable structure systems; robust trajectory tracking control; Lyapunov analysis; uncertain systems; manipulators; control system synthesis; two-link robotic manipulator; robust stability; uncertain Euler-Lagrange systems; trajectory control; event-triggered sliding mode-based tracking control; EL systems; steady-state performance; variable structure systems; Lyapunov methods
• ISSN: 1751-8644; 1751-8652; 1751-8652
• DOI: 10.1049/iet-cta.2017.1114

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.