Observer-based model following sliding mode tracking control of discrete-time linear networked systems with two-channel event-triggered schemes and quantizations

Abstract

This paper addresses the problem of H∞ observer-based model following sliding mode tracking control for a class of linear discrete-time networked systems subject to event-triggered transmission schemes and quantizations occurring in both input and output channels. First, a dynamic event-triggered scheme and a static event-triggered scheme on sensor and controller sides are proposed, respectively, to reduce the number of unnecessary data transmission. Then, an observer is designed to estimate the system state. Considering the effects of quantization, networked conditions, external disturbance and event-triggered transmission schemes, the state error system and sliding mode dynamics are modeled as a new networked time-delay system. Based on this model and Lyapunov–Krasovskii functional method, sufficient conditions are derived to guarantee the resulting closed-loop system to be asymptotically stable with prescribed H∞ performance. And then, a co-design method is present to obtain the observer gain, triggering parameter and sliding mode parameter, simultaneously. Furthermore, a sliding mode controller for reaching motion is developed to ensure the reachability of the sliding surface. Finally, simulation examples are present to verify the effective of the proposed design method.