Event-Triggered Sliding Mode Control of Uncertain Switched Systems via Hybrid Quantized Feedback

摘要

This article is concerned with the sliding mode control (SMC) for stabilizing a switched linear system with external disturbances and uncertain nonlinearities. The state sampling is implemented by an event-triggered mechanism (ETM) and the sampled data are transmitted through a limited-bandwidth digital channel. The main challenge of such a work comes from the quantizer saturation and quantization error in the SMC design with finite-level quantization and the mismatched control caused by the switch and event-triggered sampling. To solve the above problem, we at first present an ETM and a limited-information-based SMC law. Then, a new discrete-time level-sets method is proposed to develop the dynamic quantization policy (DQP). If the disturbance bound is known, the DQP can avoid the quantizer saturation without the need of online detection. A switching law and quantization parameter conditions are provided to ensure the convergence of the state trajectory. At last, the result is generalized to the unknown bound of disturbance. The limited-information control problem of a single-link manipulator is taken as a potential application of the proposed method.