Adaptive Integral Sliding Mode Control: An Event-Triggered Approach

This paper presents the design of an event-triggered integral sliding mode controller (ET-ISMC) for a class of nonlinear systems with bounded perturbations. To relax the knowledge of disturbance bound to design the ET-ISMC, an adaptive mechanism is used to estimate it. A dead zone is introduced in the adaptive law to relax the persistence of excitation (PE) conditions. To ensure the robust stabilization of the perturbed nonlinear system over a shared network constrained by limited bandwidth, computational resources, the ET-ISMC is designed. The event-triggered design ensures a reduced number of control updates maintaining the practical stability of the system. Moreover, the minimum inter event time is shown to be positive, which ensures a Zeno free behaviour of the closed loop system. Finally, simulation results are presented to verify the theoretical results. Copyright (C) 2022 The Authors.