Event-Triggered Adaptive Sliding Mode Control of Uncertain Nonlinear Systems Based on Fully Actuated System Approach

Recently, event-triggered control has received increasing attention due to its advantages on saving computation and communication resources. For the controller design of nonlinear systems, backstepping method plays a vital role in most existing results. However, the backstepping control with an event-triggered scheme (ETS) merely ensures the practical stability of the systems subject to uncertainties. Additionally, backstepping techniques encounter a significant challenge known as 'complex explosion' when dealing with high-dimensional systems. To address such issues, this brief proposes an event-triggered adaptive sliding mode control (SMC) scheme for a class of uncertain strict feedback nonlinear systems (SFNSs) based on fully actuated system (FAS) approach. By model transformation, an FAS model of the original systems is obtained, which makes the solution of control law simple and effective. Then, a high-order sliding mode surface is designed based on FAS model, where a hyperbolic tangent function is introduced such that a nonlinear equivalent control law can be synthesized to compensate the effect of ETS. As a result, a sliding mode dynamic with fewer variables is derived. Furthermore, the stability analysis ensures the asymptotic convergence of control system without requiring global Lipschitz conditions. Finally, the effectiveness of the proposed control strategy is also illustrated by a practical example.