Event‐triggered switching‐dependent adaptive integral sliding mode control for switched systems

Abstract

This article considers the event-triggered adaptive sliding mode control problem for switched systems with the exogenous disturbance and the unknown nonlinear disturbance subject to network-induced delay. The system output is considered to be periodically sampled. First, a mode-dependent event-triggering scheme is proposed to decide whether the sampled system output is transmitted or not to the observer. Second, two new integral sliding surfaces depending on the state of the switching instants are designed for the observer and the error system respectively. Moreover, the sliding mode observer for the error system can compensate the effect of the nonlinearity and match the exogenous disturbance by its upper bound, which is more suitable in practical applications. Compared with the existing results, the proposed switching-dependent sliding mode surface for the error system not only has the characteristics of the mode dependent sliding mode surface, but also we establish the relationship among the average dwell time, the triggering condition and the mode dependent sliding mode surface. The stability conditions of the sliding mode dynamics are presented, and two event-triggered adaptive sliding mode controllers are derived to guarantee global uniform exponential stability of switched systems with a H ∞ performance. Finally, an example is employed to show the effectiveness.