Event-Triggered Sliding Mode Control Based Trajectory Tracking in a Cyber-Physical Space

Time-triggered controllers have been developed for many trajectory tracking applications. The efficiency of controller plays an important role along with the accuracy of the tracking. Hence, an event-triggered sliding mode controller in a cyber-physical space is proposed in this paper. Event-triggered approach reduces control efforts of the system as the control actions are generated at specific occurrence of events and thereby reduces load on the communication network. The designed event-triggered approach in a cyber-physical space is integrated with communication protocol to prevent system malfunctioning by delayed and corrupt data packets. The proposed event-triggered controller along with the communication protocol is implemented for an automated-guided vehicle model. The results obtained from event-triggered approach are duly compared with time-triggered controller. The results show the efficiency of developed controller.

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