Practical Event-Triggered Finite-Time Second-Order Sliding Mode Controller Design

This article proposes a novel event-triggered second-order sliding mode (SOSM) control algorithm using the small-gain theorems. The developed algorithm has global event property in aspects of the triggering time intervals. First, an SOSM controller is designed related to the sampling error of states, and it is proved that the closed-loop system is finite-time input-to-state stable (FTISS) with the sampling error via utilizing the small-gain theorems. Second, combined with the constructed SOSM controller, a new triggering mechanism is proposed depending on the sampling error by designing the appropriate FTISS gain condition. Third, the practical finite-time stability of the closed-loop system is verified. It is shown that the minimum triggering time interval is always a positive value in the whole state space. Finally, the simulation results demonstrate the effectiveness of the developed control method.