Abstract
The study presents a novel event-triggered quasi-sliding mode control algorithm for linear discrete time systems. The problem is divided into two main parts. Firstly, the sliding mode control of perturbed discrete time systems is considered. In order to limit the impact of external disturbances to one sampling step only, a reference trajectory-based control law is introduced. The proposed control method drives the system’s representative point to an a priori designed reference position in each control step, thus minimizing the influence of disturbance and improving the robustness. Moreover, the reference trajectory is generated according to a novel reaching law, which ensures the nonswitching movement within the quasi-sliding mode band. In the latter part of the study, the proposed control strategy is supplemented with an event-triggering algorithm. In the modified strategy the control signal is only updated when a certain triggering condition occurs. Therefore, the need for communication between system elements is reduced. As follows, the delays in the digital control process may be reduced as well, without compromising the system’s robustness.
Highlights
The controller always drives the representative point onto the sliding surface, regardless of matched modelling uncertainties and external disturbances [3]
This study considers the design of discrete time sliding mode control for the following linear system η(k + 1) = Φη(k ) + Γ [u(k) + f (k)], (1)
This study proposes to control the system Equation (1) with a quasi-sliding mode control scheme
Summary
Sliding mode design has been drawing the attention of the control engineering society for decades now. In order to increase the system’s robustness to disturbances and model uncertainties, in this study, we apply a reference trajectory following a sliding mode control scheme. A trajectory tracking control law is used to drive the system’s representative point to the reference position. The event-triggered sliding mode is one of the recent trends in variable structure control [25,26,27,28,29] This strategy assumes updating the control signal only when a certain stability condition is violated or, in other words, when a selected triggering condition is met. We combine the trajectory tracking quasi-sliding mode with an event-triggered control law.
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