A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 7 Issue 1
Jan.  2020

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 11.8, Top 4% (SCI Q1)
    CiteScore: 17.6, Top 3% (Q1)
    Google Scholar h5-index: 77, TOP 5
Turn off MathJax
Article Contents
Aquib Mustafa, Narendra K. Dhar and Nishchal K Verma, "Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 307-314, Jan. 2020. doi: 10.1109/JAS.2019.1911654
Citation: Aquib Mustafa, Narendra K. Dhar and Nishchal K Verma, "Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems," IEEE/CAA J. Autom. Sinica, vol. 7, no. 1, pp. 307-314, Jan. 2020. doi: 10.1109/JAS.2019.1911654

Event-Triggered Sliding Mode Control for Trajectory Tracking of Nonlinear Systems

doi: 10.1109/JAS.2019.1911654
More Information
  • In this paper, an event-triggered sliding mode control approach for trajectory tracking problem of nonlinear input affine system with disturbance has been proposed. A second order robotic manipulator system has been modeled into a general nonlinear input affine system. Initially, the global asymptotic stability is ensured with conventional periodic sampling approach for reference trajectory tracking. Then the proposed approach of event-triggered sliding mode control is discussed which guarantees semi-global uniform ultimate boundedness. The proposed control approach guarantees non-accumulation of control updates ensuring lower bounds on inter-event triggering instants avoiding Zeno behavior in presence of the disturbance. The system shows better performance in terms of reduced control updates, ensures system stability which further guarantees optimization of resource usage and cost. The simulation results are provided for validation of proposed methodology for tracking problem by a robotic manipulator. The number of aperiodic control updates is found to be approximately 44% and 61% in the presence of constant and time-varying disturbances respectively.

     

  • loading
  • [1]
    K. E. Arzen, " A simple event-based PID controller”, in Proc. IFAC 14th World Congr., China, pp. 423–428, 1999.
    [2]
    K. J. Astrom and B. M. Bernhardsson, " Comparison of Riemann and Lebesgue sampling for first order stochastic systems”, in Proc. IEEE Conf. Dec. and Control, USA, pp. 2011–2016, 2002.
    [3]
    P. Tabuada, " Event-triggered real-time scheduling of stabilizing control tasks,” IEEE Trans. Autom. Control, vol. 52, no. 9, pp. 1680–1685, 2007. doi: 10.1109/TAC.2007.904277
    [4]
    W. Heemels, J. Sandee, and P. Van Den Bosch, " Analysis of event driven controllers for linear systems,” Int. J. Control, vol. 81, no. 4, pp. 571–590, 2008. doi: 10.1080/00207170701506919
    [5]
    J. Lunze and D. Lehmann, " A state-feedback approach to event-based control,” Automatica, vol. 46, no. 1, pp. 211–215, 2010. doi: 10.1016/j.automatica.2009.10.035
    [6]
    M. Donkers and W. Heemels, " Output-based event-triggered control with guaranteed L1-gain and improved event-triggering”, in Proc. IEEE Conf. Dec. and Control, USA, pp. 3246–3251, 2010.
    [7]
    A. Girard, " Dynamic triggering mechanisms for event-triggered control,” IEEE Trans. Autom. Control, vol. 607, no. 7, pp. 1992–1997, Jul. 2015.
    [8]
    X. F. Wang and M. D. Lemmon., " Event-triggering in distributed networked control systems,” IEEE Trans. Autom. Control, vol. 56, no. 3, pp. 586–601, 2011. doi: 10.1109/TAC.2010.2057951
    [9]
    M. Mazo and P. Tabuada, " Decentralized event-triggered control over wireless sensor/actuator networks,” IEEE Trans. Autom. Control, vol. 56, no. 10, pp. 2456–2461, 2011. doi: 10.1109/TAC.2011.2164036
    [10]
    N. Mu, X. Liao, and T. Huang, " Event-based consensus control for a linear directed multiagent system with time delay,” IEEE Trans. Circuits Syst., vol. 62, no. 3, pp. 281–185, 2015. doi: 10.1109/TCSII.2014.2368991
    [11]
    N. K. Dhar, N. K. Verma, and L. Behera, " Adaptive critic based eventtriggered control for HVAC system,” IEEE Trans. Ind. Informat., vol. 14, no. 1, pp. 178–188, 2018. doi: 10.1109/TII.2017.2725899
    [12]
    A. Behera and B. Bandyopadhyay, " Robust sliding mode control: an event-triggering approach,” IEEE Trans. Circuits Syst., vol. 64, no. 2, pp. 146–150, 2017. doi: 10.1109/TCSII.2016.2551542
    [13]
    A. K. Behera and B. Bandyopadhyay, " Self-triggering based sliding mode control for linear systems,” IET Control Theory Appl., vol. 9, no. 17, pp. 2541–2547, 2015. doi: 10.1049/iet-cta.2015.0342
    [14]
    P. Postoyan and P. Tabuada, " A framework for the event-triggered stabilization of nonlinear systems,” IEEE Trans. Autom. Control, vol. 60, no. 4, pp. 982–996, 2015. doi: 10.1109/TAC.2014.2363603
    [15]
    P. Tallapragada and N. Chopra, " On event triggered tracking for nonlinear systems,” IEEE Trans. Autom. Control, vol. 58, no. 9, pp. 2343–2348, 2013. doi: 10.1109/TAC.2013.2251794
    [16]
    P. Tallapragada and N. Chopra, " On event triggered trajectory tracking for control affine nonlinear systems”, in Proc. 50th IEEE Dec. Control and Euro. Control Conf., USA, pp. 5377–5382, 2011.
    [17]
    V. I. Utkin, " Variable structure systems with sliding modes,” IEEE Trans. Autom. Control, vol. 22, no. 2, pp. 212–222, Apr. 1977. doi: 10.1109/TAC.1977.1101446
    [18]
    N. K. Verma, N. K. Dhar, A. K. Kar, R. Dev, S. S. F. Nawaz, and A. Salour, " Internet of things based framework for trajectory tracking control”, in Proc. IEEE World Forum on Int. of Things, USA, pp. 265–270, 2016.
    [19]
    A. Mustafa, N. K. Dhar, P. Agrawal, and N. K. Verma, " Adaptive backstepping sliding Mode control based on nonlinear disturbance observer for trajectory tracking of robotic manipulator”, in Proc. IEEE Int. Conf. Control and Robotics Eng., Thailand, pp. 29–34, 2017.
    [20]
    W. Gao, Y. Wang, and A. Homaifa, " Discrete-time variable structure control systems,” IEEE Trans. Ind. Electron., vol. 42, no. 2, pp. 177–122, 1995.
    [21]
    H. Li, P. Shi, and D. Yao, " Adaptive sliding-mode control of Markov jump nonlinear systems with actuator faults,” IEEE Trans. Autom. Control, vol. 62, no. 4, pp. 1933–1939, 2017. doi: 10.1109/TAC.2016.2588885
    [22]
    A. K. Behera and B. Bandyopadhyay, " Event based robust stabilization of linear systems”, in Proc. Annual IEEE Conf. Ind. Electron. Society, USA, pp. 133–138, 2014.
    [23]
    A. Ferrara and M. Cucuzzella, " Event-triggered sliding mode control strategies for a class of nonlinear uncertain systems”, Clempner J., Yu W. (eds) New Perspectives and Applications of Modern Control Theory. Springer, Chapter 16, pp. 397–425, 2018.
    [24]
    J. J. Craig, Introduction to Robotics: Mechanics and Control, AddisonWesley Longman, 1989.
    [25]
    M. W. Spong and M. Vidyasagar, Robot Dynamics and Control, John Wiley and Sons, 2008.
    [26]
    A. D. Luca, " Zero dynamics in robotic systems, ” Nonlinear Synthesis: Progress in Systems and Control Theory, vol 9, pp. 68–87, 1991.
    [27]
    H. Khalil, Nonlinear Systems, Prentice Hall, 2002.
    [28]
    Z. Qu, " Input-output robust tracking control design for flexible joint robots,” IEEE Trans. Automatic Control, vol. 40, no. 1, pp. 78–83, 1995. doi: 10.1109/9.362898
    [29]
    M. Cucuzzella and A. Ferrara, " Practical second order sliding modes in single-loop networked control of nonlinear systems,” Automatica, vol. 89, pp. 235–240, Mar. 2018.

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(13)  / Tables(1)

    Article Metrics

    Article views (1596) PDF downloads(187) Cited by()

    Highlights

    • This work presents an event-triggered sliding mode control approach for trajectory tracking problem of nonlinear system under disturbance.
    • The event-triggering condition is derived using Lyapunov theory which ensures accuracy and stability of event-triggered sliding mode control.
    • This work presents admissibility of event-based control updates for real-time controller application.
    • The designed controller shows better performance in terms of reduced control updates, ensures optimization of resource usage and cost.

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return