Sliding Mode Control for Stabilization of a Class of Nonlinear Systems: A Self-Triggered Design with Prescribed Performance Function

In this work, the design of self-triggered sliding mode control (SMC) with prescribed performance function (PPF) for a class of perturbed nonlinear systems is explored. Here, we have considered a resource constraint scenario, where the system communicates with the controller using a shared wireless network. A sliding mode controller is designed for robust stabilization and a threshold condition is introduced based on PPF, which can guarantee the existence of practical sliding mode with prescribed performance and uniform bounded-ness of the states. Finally, a suitable triggering mechanism is designed involving this PPF which decides the next sampling instance and ensure the closed loop stability. The simulation results show that the designed sampled data control system can achieve the practical stability with the prescribed performance of the sliding variable with reduced computation load in comparison with the traditional time-triggered and static self-triggered design.