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Event-Triggered Second-Order Sliding Mode Controller Design and Implementation

Author

Listed:
  • Andrej Sarjaš

    (Faculty of Electrical Engineering and Computer Science, University of Maribor, 2000 Maribor, Slovenia)

  • Dušan Gleich

    (Faculty of Electrical Engineering and Computer Science, University of Maribor, 2000 Maribor, Slovenia)

Abstract

The paper presents an event-triggered higher-order sliding mode controller design. The event-triggering technique is the alternative approach to real-time controller execution, unlike the classic time-triggering technique, which is not time-dependable and is governed by the triggering policy. The technique is suitable for system resource relaxation in case of computation burden or network usage mitigation. The paper describes the stability analysis of the super-twisted sliding mode controller based on input-to-state stability notation. The stability analysis introduces a triggering policy related directly to the ultimate boundness of the system states and preselected sliding variables. The controller time execution with the selected triggering condition prevents the exhibition of the Zeno phenomena, where the minimal inter-event time of the controller has a positive non-zero lower bound. The minimal value of the inter-event time is related directly to the controller parameters and triggering bound, the selection of which is given with the derived stability conditions regarding the designer’s objective. Preventing the fast nonlinear controller execution, especially close to the sliding manifold, also alleviates the chattering phenomena effectively, which is a primal drawback, and limits the usage of the controller on various systems. The method’s efficiency is verified with the hardware-in-the-loop system, where the dynamic and robustness of the triggering approach are compared to the standard time-triggered execution technique.

Suggested Citation

  • Andrej Sarjaš & Dušan Gleich, 2023. "Event-Triggered Second-Order Sliding Mode Controller Design and Implementation," Mathematics, MDPI, vol. 11(20), pages 1-16, October.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:20:p:4314-:d:1260995
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    References listed on IDEAS

    as
    1. Andrej Sarjaš & Dušan Gleich, 2022. "Toward Embedded System Resources Relaxation Based on the Event-Triggered Feedback Control Approach," Mathematics, MDPI, vol. 10(4), pages 1-18, February.
    2. Yassine Benyazid & Mohamed Fnadi & Ahmed Said Nouri, 2023. "A Discrete Integral Sliding Manifold for a Nonlinear System with Time Delay: An Event-Triggered Scheme," Mathematics, MDPI, vol. 11(10), pages 1-19, May.
    3. Xudong Wang & Zhongyang Fei & Jinyong Yu & Zhiwei Du, 2019. "Passivity-based event-triggered fault tolerant control for VTOL with actuator failure and parameter uncertainties," International Journal of Systems Science, Taylor & Francis Journals, vol. 50(4), pages 817-828, March.
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