Event-triggered Sliding Mode Control Based Trajectory Tracking of Robotic Manipulators in a Cyber-Robotic Space

摘要

This paper presents trajectory tracking control of robotic manipulators using an event-triggered sliding mode control (ET-SMC) strategy. Sliding mode control is an efficient tool to control complex nonlinear systems, due to its low sensitivity to disturbances / uncertainties. In an event-triggered strategy, the control signal is updated only when a particular event condition is violated, thus avoiding consistent periodic execution of control tasks. Here, the ET-SMC based trajectory control achieves robust stability with the desired tracking performance and reduced number of control calculations. Simulation results are given to illustrate the theoretical predictions.