Event-Triggered Nonsingular Terminal Sliding-Mode Control

This article studies event-triggered nonsingular terminal sliding-mode control (TSMC) for a class of nonlinear systems. First, a static event-triggering mechanism is implemented in the nonsingular TSMC design. It is shown that the sliding variable can reach the quasi-sliding-mode band and the states can converge to a neighborhood of the equilibrium dependent on the threshold of the event-triggering mechanism. Second, by taking advantage of the internal variable, a dynamic event-triggering mechanism is developed for the nonsingular TSMC design. Compared to the static event-triggered nonsingular TSMC, the designed dynamic event-triggered nonsingular TSMC strategy can reduce the number of events while maintaining the same upper bounds of quasi-sliding-mode and steady states. It is further shown that both event-triggered nonsingular TSMC systems have no Zeno behavior. Finally, simulation results are given to demonstrate the effectiveness of the theoretical results.