Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems
文献类型：期刊论文
| 作者 | Aquib Mustafa; Narendra K. Dhar; Nishchal K Verma |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2020 |
| 卷号 | 7期号:1页码:307-314 |
| 关键词 | Event-trigger inter execution time stability sliding mode control trajectory tracking |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2019.1911654 |
| 英文摘要 | In this paper, an event-triggered sliding mode control approach for trajectory tracking problem of nonlinear input affine system with disturbance has been proposed. A second order robotic manipulator system has been modeled into a general nonlinear input affine system. Initially, the global asymptotic stability is ensured with conventional periodic sampling approach for reference trajectory tracking. Then the proposed approach of event-triggered sliding mode control is discussed which guarantees semi-global uniform ultimate boundedness. The proposed control approach guarantees non-accumulation of control updates ensuring lower bounds on inter-event triggering instants avoiding Zeno behavior in presence of the disturbance. The system shows better performance in terms of reduced control updates, ensures system stability which further guarantees optimization of resource usage and cost. The simulation results are provided for validation of proposed methodology for tracking problem by a robotic manipulator. The number of aperiodic control updates is found to be approximately 44% and 61% in the presence of constant and time-varying disturbances respectively. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42940]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Aquib Mustafa,Narendra K. Dhar,Nishchal K Verma. Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(1):307-314. |
| APA | Aquib Mustafa,Narendra K. Dhar,&Nishchal K Verma.(2020).Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems.IEEE/CAA Journal of Automatica Sinica,7(1),307-314. |
| MLA | Aquib Mustafa,et al."Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems".IEEE/CAA Journal of Automatica Sinica 7.1(2020):307-314. |
入库方式： OAI收割
来源：自动化研究所
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