Event Triggered Integral Sliding Mode Controller Design for Multi-Input Multi-Output Nonlinear System

In this manuscript, the design of event based Integral Sliding Mode Controller Eb-ISMC is considered for a nonlinear system with perturbation. The proposed controller uses a novel triggering strategy which is established according to some stability requirements. The primary benefit of this strategy is the effective usage of the system resources by reducing the total amount of control computations as compared to the classical or periodic version of ISMC. Closed-loop system stability analysis has shown that the suggested controller achieves the practical sliding mode PSM using the developed triggering control scheme. Moreover, Zeno behaviour is circumvented by developing suitable expressions for the lower bound of the inter execution time. Simulation experiments are conducted using a Multi-Input Multi-Output MIMO Nonlinear model of the Phantom Omni robot to demonstrate the main outcomes of this methodology.