Event-Triggered Sliding Mode Control Strategies for Positioning Systems: An Experimental Assessment

Andrej Sarjaš*, Martin Steinberger, Dušan Gleich, Martin Horn

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper presents experimental assessments of different event-triggered sliding mode control strategies. The main purpose of the event-triggered control approach is to reduce the system utilization and relax the scheduling of the tasks on real-time systems. Event triggering is a real-time implementation technique, where the execution of the controller is not fixed to a preselected sampling time. The stability and performance of the controlled system need to be preserved with regard to the sporadic nature of the controller update. Sliding mode controllers are employed in the context of event-triggering to achieve robustness with respect to matched perturbations. Three different sliding mode event-triggered strategies are evaluated on the real-time positioning system. All the obtained experimental results are compared to a time-triggered version. The results confirm that event-triggering sliding mode control is well suited and reduce the system use drastically.
Original languageEnglish
Title of host publicationProceedings of the 2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)
PublisherInstitute of Electrical and Electronics Engineers
Pages191-196
ISBN (Electronic)978-1-7281-3189-4
DOIs
Publication statusPublished - 2020
Event2020 IEEE 16th International Workshop on Advanced Motion Control - Virtuell, Norway
Duration: 20 Apr 202022 Apr 2020

Conference

Conference2020 IEEE 16th International Workshop on Advanced Motion Control
Abbreviated titleAMC 2020
CountryNorway
CityVirtuell
Period20/04/2022/04/20

Keywords

  • sliding mode control
  • event-triggered control
  • Networked Control

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