Static output-feedback sliding mode control under round-robin protocol

摘要

This paper addresses the static output-feedback sliding mode control (SMC) problem for a class of uncertain control systems subject to the round-robin protocol scheduling, in which the communication between the controller and the actuators is regulated by the round-robin protocol, that is, only one actuator node gets the access to the transmission network at each instant and the other actuators utilize the values stored in the zero-order holders. A key issue of the addressed problem is how to design both the sliding surface and the sliding mode controller subject to the kind of actuator signals depending on protocol scheduling and zero-order holders. By only using the measured output information, a linear sliding surface is constructed, and then, a token-dependent SMC law is designed properly with the aid of an updating rule on actuator input. Moreover, suitable token-dependent Lyapunov functions are exploited to obtain sufficient conditions for guaranteeing the asymptotic stability of the closed-loop systems and the reachability of the specified sliding surface. Furthermore, based upon a separation strategy, a convex optimization algorithm is proposed to obtain the controller gains. Finally, the effectiveness of the developed static output-feedback SMC design scheme is verified in an industrial continuous-stirred tank reactor system.