| Title: | Event-triggered second-order sliding mode controller design and implementation |
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| Authors: | ID Sarjaš, Andrej (Author)
ID Gleich, Dušan (Author) |
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| Files: |  mathematics-11-04314-v2_(1).pdf (2,52 MB)
MD5: C95ECFB29ABF558F69523708D2643DD8
 https://www.mdpi.com/2227-7390/11/20/4314
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| Language: | English |
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| Work type: | Article |
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| Typology: | 1.01 - Original Scientific Article |
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| Organization: | FERI - Faculty of Electrical Engineering and Computer Science
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| Abstract: | 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. |
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| Keywords: | event triggering, sliding mode control, super-twisted controller, chattering alleviation |
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| Publication status: | Published |
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| Publication version: | Version of Record |
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| Submitted for review: | 11.09.2023 |
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| Article acceptance date: | 13.10.2023 |
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| Publication date: | 16.10.2023 |
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| Publisher: | MDPI |
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| Year of publishing: | 2023 |
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| Number of pages: | 16 str. |
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| Numbering: | Vol. 11, no. 20, [article no.] 4314 |
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| PID: | 20.500.12556/DKUM-86526  |
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| UDC: | 621.3 |
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| ISSN on article: | 2227-7390 |
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| COBISS.SI-ID: | 169089027 |
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| DOI: | 10.3390/math11204314 |
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| Copyright: | © 2023 by the authors |
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| Publication date in DKUM: | 07.12.2023 |
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| Views: | 523 |
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| Downloads: | 43 |
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| Metadata: |    |
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| Categories: | Misc.
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