Observer-based adaptive event-triggered sliding mode control of saturated nonlinear networked systems with cyber-attacks

Abstract

This paper investigates an observer-based adaptive event-triggered sliding mode control (SMC) problem for nonlinear networked systems subject to actuator and sensor saturation with cyber-attacks. First, an improved adaptive event triggering scheme is put forward to reduce the frequency of data communication between the networked system components, and thus the potential communication cost. It is revealed that the proposed scheme can achieve superior performance over some existing ones in terms of a significant reduction of events. Second, to simplify the design of the sliding surface, an observer with cyber-attacks is designed, which is used to estimate the system state. The state error system and sliding mode dynamics are then established as a closed-loop system accounting for the concurrent effects of cyber-attacks, saturation constraints. Furthermore, by making use of the Lyapunov-Krasovskii functional, sufficient criterions for guaranteeing both ultimately bounded stability and asymptotic stability of the closed-loop system with prescribed performance are derived. The reachability of sliding mode surface can be ensured by a sliding mode controller. Finally, a numerical example is used to show the effectiveness and superiority of proposed method.