20.500.12556/DKUM-100061 Barrier function adaptive event-triggered sliding mode control for nonlinear systems The paper presents a Barrier Function Adaptive Event-Triggered (ET) Sliding Mode Controller (SMC) for a class of nonlinear systems with matched disturbances. The proposed approach integrates barrier-function-based gain adaptation into the event-triggered sliding mode framework while preserving the original triggering mechanism. Two adaptive barrier functions, namely the Positive Barrier Function and the Positive Semi-Barrier Function, are employed to continuously adjust the switching gain according to the evolution of the sliding variable. Stability of the closed-loop system is established using Lyapunov and input-to-state stability analysis, and a positive lower bound on the inter-event time is derived to exclude Zeno behavior. Theoretical results demonstrate that adaptive gain scheduling enlarges the guaranteed inter-event time compared with conventional ET-SMC. The proposed controller is experimentally validated on an air-levitation system and compared with conventional time-triggered SMC and fixed-gain ET-SMC. Experimental results confirm preserved robustness and disturbance rejection while significantly reducing controller updates and increasing the inter-event time, demonstrating the effectiveness of the proposed adaptive event-triggered strategy. event triggering barier function adaptive sliding mode triggering condition Zeno-phenomena chattering suppression sprožitev dogodka pregradna funkcija prilagodljivi drsni način true false true MDPI Angleški jezik Slovenski jezik https://www.mdpi.com/journal/mathematics © 2026 by the authors Članek v reviji 2026-09-03 13:30:07 2026-09-03 13:30:08 2026-09-04 03:08:41 0000-00-00 00:00:00 2026 0 0 22 str. iss. 16, [article no.] 2882 Vol. 14 2026 0000-00-00 Zaloznikova Objavljeno apc 2026-07-10 2026-07-31 2026-08-10 621.39 289243651 10.3390/math14162882 2227-7390 https://www.mdpi.com/2227-7390/14/16/2882 1 d1770ab0-a78a-11f1-b55d-00155d0001be https://dk.um.si/Dokument.php?lang=slv&id=211414 mathematics-14-02882.pdf mathematics-14-02882.pdf 1 C86A40801FF480DCE16FD3A201279C4D 69c368df814b0b5a960e3eee44d234a35951bbfc27b48f603ea23b92cfd069b2 884ea796-a78b-11f1-b55d-00155d0001be https://dk.um.si/Dokument.php?lang=slv&id=211420 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0