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Event-triggered output feedback sliding mode control of mechanical systems

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Abstract

This paper is concerned with event-triggered sliding mode control (SMC) for uncertain mechanical systems subject to limited communication capacity. We consider the scenario where samplings of the system output and of the control input are generated by two different event-triggered strategies. An event-triggered mechanism is incorporated in the sensor to decide when the position information is transmitted from the sensor to observer. The super-twisting algorithm (STA)-based observer is developed to recover the unmeasured velocities by using event-triggered sampling of the position information. Besides, an SMC law is proposed and an input event-triggered mechanism is introduced to decide when the control signal is transmitted over the network to the actuator side. The stability for the overall closed-loop system is analyzed. It is proved that under the proposed output and input event-triggered strategies, there is no Zeno behavior exhibited. Examples are finally presented to illustrate the effectiveness of the proposed event-triggered STA-based observer and the event-triggered SMC scheme.

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Acknowledgements

This work was supported in part by the Natural Science Foundation of China under Grants 62173054, 62073054, 6217023627, 51939001, in part by China Postdoctoral Science Foundation under Grant 2020M680930, in part by the Natural Science Foundation of Liaoning under Grant 2021MS142 and in part by the Dalian Innovative Support Scheme for High-Level Talents under Grant 2019RQ092.

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Authors and Affiliations

  1. College of Marine Electrical Engineering, Dalian Maritime University, Dalian, 116026, China

    Yan Yan, Rui Wang & Shuanghe Yu

  2. Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai, 200093, China

    Chaoli Wang

  3. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, 611731, China

    Tieshan Li

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  1. Yan Yan
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  2. Rui Wang
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Correspondence to Yan Yan.

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The datasets generated during and/or analyzed during the current study are available from the corresponding author on reasonable request.

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Yan, Y., Wang, R., Yu, S. et al. Event-triggered output feedback sliding mode control of mechanical systems. Nonlinear Dyn 107, 3543–3555 (2022). https://doi.org/10.1007/s11071-021-07152-1

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