Sliding Mode Even-Triggered Tracking Control for Robot Manipulators With State Constrains

Abstract

This paper presents the sliding mode event-triggered control to solve the trajectory tracking problem of robot manipulator systems under state constraints. Through the design of time-varying control gains, a Lyapunov function ensures the fulfilment of the state constraints despite external disturbances. The designed sliding mode event-triggered control ensures that the sliding variable reaches the vicinity of the sliding surface in the finite-time. Furthermore, the proposed method ensures the uniform ultimate boundedness of the tracking error. There is no accumulation of inter-event time, which provides Zeno-free study. Simulation results of two-link robotic manipulator demonstrate the effectiveness of the proposed theory.