Event-triggered variable structure control

This paper presents a novel Variable Structure Control (VSC) algorithm of Event- Triggered (ET) type, capable of dealing with a class of nonlinear uncertain systems. By virtue of its ET nature, the algorithm can be used as the kernel of a robust networked control system. The design objective is indeed to reduce the number of transmissions over the network. This has to be done while guaranteeing that the proposed ET-VSC is a stabilizing law with appropriate robustness property in front of matched uncertainties, even in presence of delayed transmissions. The proposed algorithm is theoretically analyzed in the paper, proving that the sliding variable associated with the controlled system results in being ultimately confined into a boundary layer of prescribed amplitude. As a consequence, it is proved that the state of the considered uncertain nonlinear system is ultimately bounded as well. Moreover, a lower bound for the time elapsed between consecutive triggering events is provided, which excludes the notorious Zeno behavior. Finally, the designed event- triggered variable structure control scheme is satisfactorily assessed in simulation.