Event-triggered adaptive sliding mode control design for a class of uncertain linear systems

This paper proposes an adaptive sliding mode control algorithm based on an event-triggered method for first-order linear systems with disturbance. Sliding mode control is introduced to enhance the robustness of the system, and the event-triggered mechanism adopts a triggering threshold related to sliding mode to improve control accuracy. Then, an adaptive law with a dual-layer nested scheme for the control gain is introduced to reduce the chattering effect in the controller. Compared with the existing method, the gain is adjusted in real-time according to the external disturbance, and there is no need to know the priori information of the disturbance derivative in advance. The advantages of the adaptive law based on event-triggered sliding mode control include reducing the communication bandwidth and resource consumption, and the adaptive change of gain can offset the negative effects caused by disturbance more flexibly and suppress the chattering effect effectively. Furthermore, the boundedness of system trajectory and uniform positive lower bound of inter-event time is guaranteed. Finally, two simulation experiments are used to verify the availability and effectiveness of the proposed method.