Event-triggered sliding mode control of a robot manipulator

Abstract

Event-triggered sliding mode control updates the input when the event triggering condition is reached. This approach enjoys the advantage of reducing the communication burden and signal updating of the control actuator, since the control signal needs not be updated at a very short sampiling interval. In this paper, we proposed and analyze an event-triggered sliding mode control system. Then we conduct experiment studies on the trajectory tracking control of a robot manipulator and confirm the control performance.