Adaptive Fuzzy Event-Triggered Sliding Mode Control for Uncertain Euler-lagrange Systems With Performance Specifications

This work addresses the design of an event-triggered finite-time singularity-free terminal sliding mode control (SMC) algorithm for tracking of Euler-Lagrange (EL) systems subject to state/error constraints, unstructured dynamics, and external disturbances. First, a novel sliding mode manifold (SMM)...

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Veröffentlicht in:	IEEE transactions on fuzzy systems Jg. 31; H. 5; S. 1 - 13
Hauptverfasser:	Wu, Yang, Yang, Xixiang, Yan, Huaicheng, Chadli, Mohammed, Wang, Yueying
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.05.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Adaptive control Aircraft Algorithms Closed loops Constraints Control theory Convergence Event-triggered control finite-time singularity-free terminal sliding mode control Fuzzy control Fuzzy logic fuzzy logic systems nonlinear systems Observers Signal transmission Sliding mode control Stability analysis state/error constraints Tracking Tracking control Tracking errors Trajectory Upper bound Vehicle dynamics
ISSN:	1063-6706, 1941-0034
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Abstract	This work addresses the design of an event-triggered finite-time singularity-free terminal sliding mode control (SMC) algorithm for tracking of Euler-Lagrange (EL) systems subject to state/error constraints, unstructured dynamics, and external disturbances. First, a novel sliding mode manifold (SMM), not only devoted to the finite-time convergence of tracking errors to a small residual set around zero but also ensuring stringent constraint requirements, is proposed. The SMM is available for both constrained and unconstrained EL systems in a unified manner with no structural changes. Then, a fuzzy logic system (FLS) is introduced to dynamically compensate for uncertainties in the system. An extra robustifying term is added to the training policy to accelerate online learning. Also, an event-triggered mechanism is integrated into the tracker design procedure to reduce the frequency of signal transmission. Stability analysis proves that all closed-loop signals are uniformly bounded, and numerical simulations further illustrate the theoretical findings.
AbstractList	This article addresses the design of an event-triggered finite-time singularity-free terminal sliding-mode control algorithm for the tracking of Euler–Lagrange (EL) systems subject to state/error constraints, unstructured dynamics, and external disturbances. First, a novel sliding-mode manifold (SMM), not only devoted to the finite-time convergence of tracking errors to a small residual set around zero but also ensuring stringent constraint requirements, is proposed. The SMM is available for both the constrained and unconstrained EL systems in a unified manner with no structural changes. Then, a fuzzy logic system is introduced to dynamically compensate for uncertainties in the system. An extra robustifying term is added to the training policy to accelerate online learning. Also, an event-triggered mechanism is integrated into the tracker design procedure to reduce the frequency of signal transmission. Stability analysis proves that all the closed-loop signals are uniformly bounded, and numerical simulations further illustrate the theoretical findings. This work addresses the design of an event-triggered finite-time singularity-free terminal sliding mode control (SMC) algorithm for tracking of Euler-Lagrange (EL) systems subject to state/error constraints, unstructured dynamics, and external disturbances. First, a novel sliding mode manifold (SMM), not only devoted to the finite-time convergence of tracking errors to a small residual set around zero but also ensuring stringent constraint requirements, is proposed. The SMM is available for both constrained and unconstrained EL systems in a unified manner with no structural changes. Then, a fuzzy logic system (FLS) is introduced to dynamically compensate for uncertainties in the system. An extra robustifying term is added to the training policy to accelerate online learning. Also, an event-triggered mechanism is integrated into the tracker design procedure to reduce the frequency of signal transmission. Stability analysis proves that all closed-loop signals are uniformly bounded, and numerical simulations further illustrate the theoretical findings.
Author	Wang, Yueying Wu, Yang Yan, Huaicheng Yang, Xixiang Chadli, Mohammed
Author_xml	– sequence: 1 givenname: Yang orcidid: 0000-0001-5900-3714 surname: Wu fullname: Wu, Yang organization: School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China – sequence: 2 givenname: Xixiang surname: Yang fullname: Yang, Xixiang organization: College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China – sequence: 3 givenname: Huaicheng orcidid: 0000-0001-5496-1809 surname: Yan fullname: Yan, Huaicheng organization: School of Information Science and Engineering, East China University of Science and Technology, Shanghai, China – sequence: 4 givenname: Mohammed surname: Chadli fullname: Chadli, Mohammed organization: IBISC Lab-UEVE, University of Paris-Saclay, Paris, France – sequence: 5 givenname: Yueying orcidid: 0000-0001-9737-6765 surname: Wang fullname: Wang, Yueying organization: School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
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Cites_doi	10.1177/0959651815570353 10.1109/ACCESS.2020.3041262 10.1109/87.317980 10.1007/s12555-019-0302-3 10.1016/j.ejcon.2019.06.010 10.1007/s12555-019-0732-y 10.1007/s11071-020-06049-9 10.1177/0142331221994380 10.1016/j.ymssp.2018.11.017 10.1016/j.automatica.2018.06.032 10.1007/s12555-017-0134-y 10.1002/rnc.5407 10.1016/j.ymssp.2019.106379 10.1016/j.automatica.2015.11.037 10.1016/j.oceaneng.2020.108179 10.1109/TAC.2008.929402 10.1080/00207179.2020.1841301 10.1109/TFUZZ.2019.2935693 10.1109/TFUZZ.2022.3169850 10.1080/00207721.2019.1622818 10.1109/TFUZZ.2020.2973955 10.1016/j.oceaneng.2020.107107 10.1109/TCST.2020.2978759 10.1016/j.automatica.2018.03.078 10.1016/j.neucom.2020.05.057 10.1016/j.automatica.2008.11.017 10.1109/TAC.2018.2874877 10.1016/j.compeleceng.2021.107612 10.1109/TFUZZ.2020.3021733 10.1002/asjc.2478 10.1109/TNNLS.2021.3107600 10.1109/TCYB.2020.3004226 10.1109/TAC.2016.2605043 10.1109/TNNLS.2020.3027689 10.1109/TFUZZ.2020.2979389 10.1016/j.automatica.2019.108704 10.1109/TFUZZ.2019.2952832 10.1016/j.automatica.2021.109515 10.1109/TNNLS.2011.2178448 10.1007/s11071-020-06088-2 10.1016/j.conengprac.2020.104675 10.1049/cth2.12028 10.1016/j.oceaneng.2020.108158
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Snippet	This work addresses the design of an event-triggered finite-time singularity-free terminal sliding mode control (SMC) algorithm for tracking of Euler-Lagrange... This article addresses the design of an event-triggered finite-time singularity-free terminal sliding-mode control algorithm for the tracking of Euler–Lagrange...
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SubjectTerms	Adaptive control Aircraft Algorithms Closed loops Constraints Control theory Convergence Event-triggered control finite-time singularity-free terminal sliding mode control Fuzzy control Fuzzy logic fuzzy logic systems nonlinear systems Observers Signal transmission Sliding mode control Stability analysis state/error constraints Tracking Tracking control Tracking errors Trajectory Upper bound Vehicle dynamics
Title	Adaptive Fuzzy Event-Triggered Sliding Mode Control for Uncertain Euler-lagrange Systems With Performance Specifications
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