Controle por Modos Deslizantes Adaptativo Event-Triggered para Sistemas Nebulosos Tipo-2 Intervalares

Abstract

In this paper, we propose an event-triggered adaptive sliding mode control method for a class of nonlinear dynamical systems. The nonlinear dynamical system is defined in interval type-2 fuzzy regions. We consider the case where the external disturbance has unknown upper bound, such that the switching gain is adapted, without overestimation, according to the estimate of the upper bound of the external disturbance. In addition to the proof of convergence in finite time of the sliding trajectory, independently if the instant is event-triggered or not, to the restriction that defines the practical sliding mode region and of the stability of the system in the practical sense, i.e. ultimately uniformly bounded, we proved that the control method is free of Zeno effect. Moreover, we define the practical sliding mode region independently of prior knowledge of the external disturbance. Finally, computational simulation results illustrate the effectiveness of the proposed control method.