In this paper, a framework for designing an event-based sliding mode controller is proposed to track a time-varying reference signal by a single-input, single-output non-linear system. In the proposed method, the control updates are fulfilled using the event-triggered method to decrease the number of control signal updates significantly. The system disturbance is tackled using an sliding mode control (SMC)-based tracker where the finite-time reachability to the sliding surface is guaranteed. Moreover, for the proposed event-based controller, a general triggering criteria is designed which is based on state variables, the reference signal and its derivatives. As a result, the control system is agile enough to track fast maneuvering reference trajectories. Another contribution of this paper is to reduce effectively the computational burden of the controller using the Lipschitz coefficients of non-linear terms. Applicability of the proposed approach is demonstrated via simulation of a control system in tracking acceleration and sinusoidal reference trajectories.

中文翻译：

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通过滑模控制对非线性SISO系统进行事件触发的跟踪

本文提出了一种用于设计基于事件的滑模控制器的框架，该框架可通过单输入单输出非线性系统跟踪时变参考信号。在提出的方法中，使用事件触发的方法来完成控制更新，从而显着减少控制信号更新的次数。使用基于滑模控制（SMC）的跟踪器解决了系统干扰，其中保证了到滑动表面的有限时间可达性。此外，对于所提出的基于事件的控制器，设计了基于状态变量，参考信号及其导数的通用触发准则。结果，控制系统足够敏捷，可以跟踪快速机动的参考轨迹。本文的另一个贡献是使用非线性项的Lipschitz系数有效地减少了控制器的计算负担。通过跟踪中控制系统的仿真证明了该方法的适用性加速度和正弦参考轨迹。