Event-Triggered-Based Sliding Mode Asymptotic Tracking Control of Robotic Manipulators

This brief studies the trajectory tracking problem for robotic manipulators with disturbances. A novel terminal sliding mode surface is developed to accelerate the convergence process. For reducing the burden of information transmission, the event-triggered strategy is introduced into the sliding mode control (SMC). A novel event-triggered condition with a time-varying threshold is proposed to reduce the times of control execution and the chattering. An event-triggered based practical sliding mode controller is constructed to render the system states reach the practical sliding mode surface in a finite time. With the help of Lyapunov stability theory, the tracking error converges to zero asymptotically. An illustrative example is provided to demonstrate the effectiveness of the proposed method.