Quantization-based event-triggered sliding mode tracking control of mechanical systems

Abstract This paper addresses the problem of the quantization-based event-triggered sliding mode tracking control for mechanical systems. Only the quantized values of measurement outputs and control inputs are transmitted to the controller and actuator sides, respectively. Furthermore, the event-triggering mechanism is located in the controller side and specific events are monitored by using quantized states to determine whether or not the control command should be transmitted. The quantization effect on the selected triggering threshold is analyzed. By using the sliding mode control (SMC) method, the sufficient condition for the stability of the system is given. The quasi-sliding mode band that is caused by quantization and event trigger is introduced for the first time. The proposed method guarantees the uniform ultimate boundedness of the tracking error and ensures the non-accumulation of inter-execution times. Simulation results illustrate the effectiveness of the proposed method.