Predefined-time event-triggered sliding mode control of uncertain Euler-Lagrange dynamic systems with actuator faults

Yifan Shi, Huaicheng Yan, Yusong Hu, Meng Wang and Zhichen Li

International Journal of Systems Science, 2025, vol. 56, issue 14, 3558-3570

Abstract: This paper proposes a novel predefined-time approach for addressing the complex tracking problem in uncertain Euler-Lagrange dynamic systems with potential actuator faults. The proposed predefined-time event-triggered fault-tolerant sliding mode control is designed to not only exhibit non-singularity and chattering-free characteristics but also ensure the convergence of the tracking error within a predetermined time-frame to a narrow vicinity. The proposed approach exhibits superior control performance compared to conventional finite-time and fixed-time methods. Simultaneously, employing fuzzy universal approximators enhances the system's capability to handle unknown nonlinear functions, contributing to its adaptability in real-world scenarios, and introducing the event-triggered mechanism achieves more efficient resource utilisation. Notably, the input-state-stable assumption is no longer needed for event-triggered control. Finally, simulation comparative results under different scenarios are employed to validate the correctness and effectiveness of the proposed method.

Date: 2025
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DOI: 10.1080/00207721.2025.2470405

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