| Title: | Barrier function adaptive event-triggered sliding mode control for nonlinear systems |
|---|
| Authors: | ID Sarjaš, Andrej (Author)
ID Gleich, Dušan (Author) |
|---|
| Files: |  https://www.mdpi.com/2227-7390/14/16/2882
 mathematics-14-02882.pdf (2,06 MB)
MD5: C86A40801FF480DCE16FD3A201279C4D
|
|---|
| Language: | English |
|---|
| Work type: | Article |
|---|
| Typology: | 1.01 - Original Scientific Article |
|---|
| Organization: | FERI - Faculty of Electrical Engineering and Computer Science
|
|---|
| Abstract: | 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. |
|---|
| Keywords: | event triggering, barier function, adaptive sliding mode, triggering condition, Zeno-phenomena, chattering suppression |
|---|
| Publication status: | Published |
|---|
| Publication version: | Version of Record |
|---|
| Submitted for review: | 10.07.2026 |
|---|
| Article acceptance date: | 31.07.2026 |
|---|
| Publication date: | 10.08.2026 |
|---|
| Publisher: | MDPI |
|---|
| Year of publishing: | 2026 |
|---|
| Number of pages: | 22 str. |
|---|
| Numbering: | Vol. 14, iss. 16, [article no.] 2882 |
|---|
| PID: | 20.500.12556/DKUM-100061  |
|---|
| UDC: | 621.39 |
|---|
| ISSN on article: | 2227-7390 |
|---|
| COBISS.SI-ID: | 289243651 |
|---|
| DOI: | 10.3390/math14162882 |
|---|
| Copyright: | © 2026 by the authors
|
|---|
| Publication date in DKUM: | 03.09.2026 |
|---|
| Views: | 267 |
|---|
| Downloads: | 9 |
|---|
| Metadata: |    |
|---|
| Categories: | Misc.
|
|---|
|
:
|
Copy citation |
|---|
| | | | Average score: | (0 votes) |
|---|
| Your score: | Voting is allowed only for logged in users. |
|---|
| Share: |  |
|---|
Hover the mouse pointer over a document title to show the abstract or click
on the title to get all document metadata. |
