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

Abstract

AbstractIn 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.