Event-Triggered Second Order Sliding Mode Control of Nonlinear Uncertain Systems

This paper presents a novel Second Order Sliding Mode (SOSM) control algorithm for a class of nonlinear systems subject to matched uncertainties. By virtue of its Event Triggered nature, it can be used as a basis to construct robust networked control schemes. The algorithm objective is indeed to reduce the number of state transmissions over the network, in order to alleviate the network congestion and reduce possible packet loss, jitter and delays, while guaranteeing satisfactory performance in terms of stability and robustness. The proposed Event-Triggered Second Order Sliding Mode control strategy is theoretically analyzed in the paper, showing its capability of enforcing the robust ultimately boundedness of the sliding variable and its first time derivative, and consequently the practical stability of the uncertain nonlinear system, in spite of the significant reduction of the number of state transmissions with respect to a conventional SOSM control approach. The satisfactory performance of the proposed scheme are also assessed in simulation.