First- and Second-Order Sliding Mode Control Design for Networked 2-D Systems Under Round-Robin Protocol.

Abstract

This article investigates the sliding mode control (SMC) problem for a class of uncertain 2-D systems described by the Roesser models with a bounded disturbance. In order to reduce the communication usage between the controller and the actuators, it is supposed that only one actuator node can gain the access to the network at each sampling time along horizontal or vertical direction, where a proper 2-D round-robin protocol is designed to periodically regulate the access token and a set of zero-order holders (ZOHs) is employed to keep the other actuator nodes unchanged until the next renewed signal arrives. Based on a novel 2-D common sliding function, a token-dependent 2-D SMC scheme with first-order sliding mode is appropriately constructed to cope with the impacts from the periodic scheduling signal and the ZOHs. Furthermore, a novel super-twisting-like 2-D SMC scheme with second-order sliding mode is designed to improve the robustness against the bounded disturbance. By resorting to token-dependent Lyapunov-like function, sufficient conditions are obtained to guarantee the ultimate boundedness of the horizontal and vertical states as well as the 2-D common sliding function. For acquiring the optimized gain matrices, two searching algorithms are formulated to solve two optimization problems arising from finding optimized control performance. Finally, two comparative examples are exploited to demonstrate the effectiveness and the advantageous of the proposed first- and second-order 2-D SMC design schemes under round-robin scheduling mechanism.