Event-Triggered Based Adaptive Improved Terminal Sliding Mode Control of Multi-Manipulators System With Weak Communication Networks

Abstract

In this paper, an event-triggered adaptive improved terminal sliding mode controller is proposed for addressing the consensus tracking problem of multi-manipulators system under the weak communication networks. Firstly, an improved terminal sliding surface is designed to reduce the steady-state error of system. Then, by devising a variable-rate reaching law for sliding surface, the control chattering is greatly weakened. Furthermore, a trigger mechanism with time-varying threshold is incorporated into the designed controller to adjust the update frequency of the control law for conserving communication resources. This strikes a balance between tracking accuracy and resources conservation. Eventually, the tracking performance of the weak-connected system is greatly improved under the proposed algorithm. Based on Lyapunov stability theory, it is proven that the consensus tracking error of the system asymptotically converges to zero. Simulation results verify the effectiveness and performance improvement of the proposed scheme.