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Periodic event-based sliding mode tracking control of Euler-Lagrange systems with dynamic triggering.

Asifa Yesmin1, Krishanu Nath2, Manas Kumar Bera3

  • 1Indian Institute of Technology Bombay, System and Control Engineering, Powai, Mumbai, 400076, Maharashtra, India.

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|December 8, 2023
PubMed
Summary

This study introduces a robust dynamic event-triggered sliding mode control for perturbed Euler-Lagrange systems. The method reduces communication frequency while ensuring system stability and bounded tracking errors.

Keywords:
Dynamic triggering mechanism (DTM)Euler–Lagrange systems (ELSs)Periodic event-triggered control (PETC)Sliding mode control (SMC)

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Area of Science:

  • Robotics and Control Systems
  • Nonlinear Control Theory

Background:

  • Euler-Lagrange systems are widely used in robotics but are susceptible to perturbations.
  • Traditional sliding mode control (SMC) requires high communication frequencies, limiting practical applications.
  • Event-triggered control strategies aim to reduce communication load but often require continuous monitoring.

Purpose of the Study:

  • To design a robust tracking controller for perturbed Euler-Lagrange systems using dynamic event-triggered sliding mode control (DET-SMC).
  • To significantly reduce communication frequency while maintaining system stability and performance.
  • To develop a practical and communication-economical control strategy.

Main Methods:

  • Implementation of a dynamic event-triggering strategy with an auxiliary dynamic variable.
  • Periodic evaluation of the triggering rule with an obtained upper bound on the sampling period.
  • Lyapunov analysis to establish closed-loop system stability and derive switching gains.
  • Exclusion of Zeno behavior to ensure finite sampling.

Main Results:

  • The proposed DET-SMC scheme ensures ultimate boundedness of tracking errors.
  • Significant reduction in communication frequency, especially during the transient phase.
  • Comparable steady-state behavior to continuous control methods.
  • Validation through simulations on a two-link manipulator and experiments on a one-link manipulator.

Conclusions:

  • The dynamic event-triggered sliding mode control is effective for robust tracking in perturbed Euler-Lagrange systems.
  • The proposed method offers a practical and resource-efficient alternative to continuous control.
  • The approach successfully balances robustness, performance, and communication load reduction.