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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Zusammenfassung: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.
Bibliographie:ObjectType-Article-1
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ISSN:1063-6706
1941-0034
DOI:10.1109/TFUZZ.2022.3205777