Event-based fast terminal sliding mode control design for a class of uncertain nonlinear systems with input delay: A quantized feedback control

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...

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Veröffentlicht in:Journal of vibration and control 2023-04, Vol.29 (7-8), p.1791-1805
Hauptverfasser: Saeedi, Mobin, Zarei, Jafar, Razavi-Far, Roozbeh, Saif, Mehrdad
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container_end_page 1805
container_issue 7-8
container_start_page 1791
container_title Journal of vibration and control
container_volume 29
creator Saeedi, Mobin
Zarei, Jafar
Razavi-Far, Roozbeh
Saif, Mehrdad
description 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.
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source SAGE Complete A-Z List
subjects Controllers
Cyber-physical systems
Delay
Dynamic stability
Dynamical systems
Feedback control
Mass-spring-damper systems
Mathematical models
Nonlinear dynamics
Nonlinear systems
Numerical models
Robustness (mathematics)
Sliding mode control
Stability analysis
title Event-based fast terminal sliding mode control design for a class of uncertain nonlinear systems with input delay: A quantized feedback control
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