Event-Triggered Based Sliding Mode Control of Second-Order Underactuated System with Unknown Dynamics

In this paper, the trajectory tracking control problem of second-order underactuated system with unknown dynamic and prescribed performance constraint was discussed. Event-triggered sliding mode control combined with adaptive method is investigated to solve the problem. By introducing the constraint transformation, which is used to convert the constrained system into unconstrained one, and prescribed performance function (PPF), the steady and transient performance of closed-loop system are guaranteed. After obtained the unconstrained system, an event-triggered adaptive sliding mode control was proposed. The proposed method is robust to uncertain disturbance and saves computing and communication resources. Then, through the Lyapunov theory, the update laws of control law and adaptive laws were obtained, and also the stability of closed-loop control system was proved. Finally, the simulation results demonstrate the effectiveness of proposed control approach.