20.500.12556/DKUM-86526 Event-triggered second-order sliding mode controller design and implementation The paper presents an event-triggered higher-order sliding mode controller design. The event-triggering technique is the alternative approach to real-time controller execution, unlike the classic time-triggering technique, which is not time-dependable and is governed by the triggering policy. The technique is suitable for system resource relaxation in case of computation burden or network usage mitigation. The paper describes the stability analysis of the super-twisted sliding mode controller based on input-to-state stability notation. The stability analysis introduces a triggering policy related directly to the ultimate boundness of the system states and preselected sliding variables. The controller time execution with the selected triggering condition prevents the exhibition of the Zeno phenomena, where the minimal inter-event time of the controller has a positive non-zero lower bound. The minimal value of the inter-event time is related directly to the controller parameters and triggering bound, the selection of which is given with the derived stability conditions regarding the designer’s objective. Preventing the fast nonlinear controller execution, especially close to the sliding manifold, also alleviates the chattering phenomena effectively, which is a primal drawback, and limits the usage of the controller on various systems. The method’s efficiency is verified with the hardware-in-the-loop system, where the dynamic and robustness of the triggering approach are compared to the standard time-triggered execution technique. Članek predstavlja sintezo dogodkovno praženega regulatorja višjega reda po metodi drsne spremenljivke. Dogodkovno proženje je alternativni pristop, h klasičnemu časovno praženemu izvajanja regulatorja, kjer z razliko klasičnega pristopa ni časovno odvisen in se izvaja glede na predpisan dogodek. Dogodkovno proženje je primerno za sisteme, kjer je pomembno varčevanje z energijo, mrežno vodenje, upravljanje dogodkov z nižjo frekvenco izvajanja in optimizacijo virov z nižjo kompleksnostjo izvajanja nalog. Delo opisuje analizo stabilnosti notranjih stanj 'Super-Twisted' nadzornega algoritma v dogodkovnem načinu. Analiza vpeljuje dogodkovno pravilo proženja, ki zagotavlja strogo omejenost drsne spremenljivke in notranjih stanj. Prav tako se analiza posveča Zeno fenomenu, ki ga je moč odpraviti s pravilno izbiro prožilnega dogodka. Odprava Zeno-fenomena je dokazana s strogo pozitivnim minimalnim časom izvajanja med dvema zaporednima dogodkoma, kjer je čas izvajanja odvisen od izbire parametrov regulatorja. Prav tako je dokazano, da je v dogodkovnem proženju odpravljeno hitro preklapljanje in brstenje izhoda regulatorja blizu ničelne vrednosti drsne spremenljivke v n-dimenzionalnem prostoru. Metoda je preizkušena na realnem sistemu in je verificirana glede na klasično časovno izvedbo regulacijskega algoritma. event triggering sliding mode control super-twisted controller chattering alleviation sprožitev dogodkov nadzor drsnega načina krmilniki true true true MDPI Angleški jezik Slovenski jezik https://www.mdpi.com/ © 2023 by the authors Članek v reviji 2023-12-07 10:06:00 2023-12-07 11:23:59 2023-12-08 03:14:50 0000-00-00 00:00:00 2023 0 0 16 str. no. 20, [article no.] 4314 Vol. 11 2023 0000-00-00 Zaloznikova Objavljeno apc 2023-09-11 2023-10-13 2023-10-16 621.3 169089027 10.3390/math11204314 2227-7390 mathematics-11-04314-v2_(1).pdf mathematics-11-04314-v2_(1).pdf 1 C95ECFB29ABF558F69523708D2643DD8 f5c5cf4e75b3286fe2cec5b84523c46292a0a001e259b78bd45152129e3fecc3 dc62105e-94df-11ee-a8bf-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=174703 https://www.mdpi.com/2227-7390/11/20/4314 1 d76a4388-94df-11ee-a8bf-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=174702 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0