Event-Triggered Integral Sliding Mode Control for an Uncertain Euler–Lagrange System with Actuator Saturation

Abstract

This paper presents the design of integral sliding mode controller for an Euler–Lagrange system in event-triggered framework considering the actuator saturation. The event-triggered control strategy is used with an aim that the communication load will be reduced over the feedback link in networked control system by adapting a need-based information exchange policy. The integral sliding surface is designed with saturation function, whose finite time reachability is established with anti-saturated sliding mode controller. The closed loop system stability has been ensured by showing the convergence of state trajectories within any desired bound neighbourhood of the origin. The event-triggered sliding mode control is shown to be free from accumulation of events, i.e. Zeno free behaviour has been guaranteed. Finally, with these theoretical formulations, the numerical simulations have been shown to prove the effectiveness of the proposed control strategy.