Integral sliding mode control of networked robotic manipulator: a dynamic event-triggered design

Nath, Krishanu; Bera, Manas Kumar

doi:10.1080/01691864.2022.2123255

Cited by 3 publications

(3 citation statements)

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“…The existing works on event‐triggered ISM control are discussed in Fan and Wang (2020), Ferrara et al (2014), Nath and Bera (2022), Tan et al (2022), Yang et al (2019), and Yesmin and Bera (2021). The primary work of ISM with model predictive control in the context of ETC is discussed in Ferrara et al (2014), where the stabilization of the linear system is addressed.…”

Section: Introductionmentioning

confidence: 99%

“…The tracking control of a nonlinear system with adaptive dynamic programming‐based ISM schemes with a dynamic triggering policy has been discussed in Tan et al (2022). The tracking control of the robotic manipulator using a dynamic‐ triggered ISM controller has been achieved in Nath and Bera (2022). As the WMR is a nonholonomic nonlinear system, the design methods introduced by Fan and Wang (2020), Ferrara et al (2014), and Yesmin and Bera (2021) cannot be applied.…”

Section: Introductionmentioning

confidence: 99%

“…As the WMR is a nonholonomic nonlinear system, the design methods introduced by Fan and Wang (2020), Ferrara et al (2014), and Yesmin and Bera (2021) cannot be applied. The designs suited for the nonlinear systems in Nath and Bera (2022), Tan et al (2022), and Yang et al (2019) also cannot be applicable to the control of WMR due to the under‐actuated nature of the system.…”

Section: Introductionmentioning

confidence: 99%

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Design and implementation of resource‐aware robust event‐based integral sliding mode controller for a networked wheeled mobile robot

Nath,

Bera

2023

Journal of Field Robotics

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This work discusses the design and implementation of a robust control strategy based on integral sliding mode (ISM) for tracking a reference trajectory by a nonholonomic wheeled mobile robot (WMR). A state feedback control law using dynamic feedback linearization is adopted to design the controller for the unperturbed dynamics of the WMR. To nullify the effects of perturbations in the WMR and to retain the performance of the nominal controller, the ISM control scheme is introduced, which uses discontinuous control to guarantee the robustness of the closed‐loop system. To relax the frequent use of the communication network due to the continuous exchange of the sensor measurements, the control law is redesigned using event‐based sampled data information. The control signal is updated in an aperiodic manner by designing a novel triggering rule where the triggering occurs only when either of the two sampling errors violates a predefined threshold condition. This design approach gives a balanced solution for a networked WMR regarding network usage and control performance. Finally, a simulation study with comparative analysis and hardware‐in‐loop testing of the proposed controller is performed on a mobile robot system to establish the feasibility of the theoretical results.

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