Discrete-time event-triggered higher order sliding mode control for consensus of 2-DOF robotic arms

Patel, Keyurkumar; Mehta, Axaykumar

doi:10.1016/j.ejcon.2020.01.006

Cited by 31 publications

(3 citation statements)

References 21 publications

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“…Therefore, it is necessary to consider an event triggered sliding mode controller with low chattering characteristics to solve the robustness problem of uncertain systems. By increasing the relative degree, the high‐order sliding mode technology is effective in reducing chattering [24]. However, the symbolic terms in this kind of controller are designed based on the bounds of some uncertainties or their derivatives, so that the high‐order sliding mode control cannot completely eliminate the chattering.…”

Section: Introductionmentioning

confidence: 99%

Event‐triggered adaptive control based on integral sliding mode surface for a class of linear systems with matched disturbance

Sun

Chen

Zhao

et al. 2023

Asian Journal of Control

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In this paper, we propose an event‐triggered adaptive integral sliding mode control scheme for a class of linear systems with external disturbance. In this method, the controller is designed using a triggered‐state‐dependent integral sliding mode, which can ensure the robustness and avoid the shortcomings of traditional sliding mode arrival stage. The triggering mechanism utilizes a time‐varying trigger threshold instead of a traditional fixed threshold, which not only realizes the dynamic update of the control law, reduces the overhead of network communication but also ensures that the system trajectory enters the bounded area. The lower bound of inter event time guarantees the avoidance of the Zeno phenomenon. Next, in order to reduce the impact of high‐frequency chattering of the control signal effectively and allow the gain of the discontinuous control term to be adjusted automatically according to the rate of change of the disturbance, a dual‐layer nested adaptive gain scheme based on equivalent control is considered. This scheme does not require a priori boundedness of the disturbance and its rate of change. Through Lyapunov stability analysis, the event‐triggered adaptive sliding mode controller can make the system trajectory converge in finite time and ensure the robustness of the control. Finally, the simulation results verify the effectiveness and simplicity of this method.

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Section: Introductionmentioning

confidence: 99%

Event‐triggered adaptive control based on integral sliding mode surface for a class of linear systems with matched disturbance

Sun

Chen

Zhao

et al. 2023

Asian Journal of Control

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“…So far, some research studies have addressed the ETC problem of multiple EL systems. [25][26][27][28][29] A discretetime ET sliding mode framework is studied in Patel and Mehta 25 for the leader-following consensus of discrete homogeneous MASs. A distributed ETC framework is introduced for the leader-follower consensus of EL networked agents in Liu et al 26 However, the investigated approach in Liu et al 26 depends on the relative velocity measurements among the agents.…”

Section: Introductionmentioning

confidence: 99%

Event-triggered formation control of n-link networked stochastic robotic manipulators

Azarbahram

Pariz

Sistani

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article proposes an event-triggered control framework to satisfy the tracking formation performance for a group of uncertain non-linear n-link robotic manipulators. The robotic manipulators are configured as a multi-agent system and they communicate over a directed graph (digraph). Furthermore, the non-linear robotic manipulator-multi-agent systems are subject to stochastic environmental loads. By introducing extra virtual controllers in the final step of the backstepping design, a total number of n event-triggering mechanisms are introduced independently for each link of all the robotic manipulator agents to update the control inputs in a fully distributed manner. More precisely, the actuator of each link of a particular agent is capable of being updated independent of other link actuator updates. A rigorous proof of the convergence of all the closed-loop signals in probability is then given and the Zeno phenomenon is excluded for the control event-triggered architectures. The simulation experiments finally quantify the effectiveness of proposed approach in terms of reducing the number of control updates and handling the stochastic environmental loads.

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“…In Wang et al, 12 a new dynamic SMC technique depending on the duty cycle and reference inputs of the converter was proposed for the robust voltage regulation of DC-DC boost converters. In Patel and Mehta, 13 a discrete-time event-triggered higher order SMC was proposed for consensus of 2-degree-of-freedom (2-DOF) robotic arms. In Castaneda et al, 14 an adaptive SMC controller was designed for quad-rotor micro-air vehicles such that the quad-rotor can track desired trajectories subject to external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Robust sliding mode preview control for uncertain discrete-time systems with time-varying delay

Ren

Jiang

2021

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article focuses on the problem of robust sliding mode preview control for a class of non-linear delayed systems. It is assumed that the reference signal is previewed with a fixed length ahead and the norm of uncertainty is bounded. A model transformation is introduced to approximate the time-varying delay such that augmented error systems can be constructed. Conditions of asymptotic stability of sliding motion are established via the small gain theorem. The sliding mode preview controller is designed such that the controlled system state can be attracted to the switching surface and keep on it thereafter. A numerical example is presented to illustrate the effectiveness of the proposed control design.

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Discrete-time event-triggered higher order sliding mode control for consensus of 2-DOF robotic arms

Cited by 31 publications

References 21 publications

Event‐triggered adaptive control based on integral sliding mode surface for a class of linear systems with matched disturbance

Event‐triggered adaptive control based on integral sliding mode surface for a class of linear systems with matched disturbance

Event-triggered formation control of n-link networked stochastic robotic manipulators

Robust sliding mode preview control for uncertain discrete-time systems with time-varying delay

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