Event-based fast terminal sliding mode control design for a class of uncertain nonlinear systems with input delay: A quantized feedback control
JVC/Journal of Vibration and Control
Cyber-physical systems, dynamic quantizer, event-triggered control, fast terminal sliding mode
This paper deals with the problem of regulation and tracking tasks for nonlinear dynamic systems that use a network medium to transmit state measurements. A novel quantized event-triggered fast terminal sliding mode controller (SMC) is proposed to reduce communication resources and computation loads while increase robustness against packet dropout, uncertainties, and disturbances. Then, new criteria are defined for the dynamic quantizer based on the event-triggering error, which increases the accuracy and facilitates the implementation procedures. In practice, delay-free systems are not realistic considerations, thus, their stability is analyzed in the presence of a dynamic quantizer and input delay under the proposed controller scheme. Then, the minimum inter-sampling time is derived, which guarantees the Zeno-free behavior and provides information about the cyber layer bandwidth in cyber-physical systems. Finally, three simulations on an unstable numerical model, the model of an inertia wheel inverted pendulum, and the mass-spring-damper model validate the effectiveness of the proposed methodology.
Saeedi, Mobin; Zarei, Jafar; Razavi-Far, Roozbeh; and Saif, Mehrdad. (2022). Event-based fast terminal sliding mode control design for a class of uncertain nonlinear systems with input delay: A quantized feedback control. JVC/Journal of Vibration and Control.