Self-triggered Nonsingular Terminal Sliding Mode Control

Effective resource allocation (e.g., CPU cycles, network bandwidth, etc.) is the key to ensuring high quality feedback control in networked control systems. This paper proposes a self-triggered control method based on nonsingular terminal sliding mode control to guarantee the required control quality while minimizing the system resource utilization. To further improve the control performance, we introduce a nonlinear disturbance observer to estimate the external disturbance. With the proof of the system stability, the self-triggering condition based on the control tasks' inter-execution time is established. This not only enhances the disturbance rejection ability but also allows the control system to sample in lower frequencies with performance guarantee. The simulation results show that compared to periodic control, the proposed self-triggered control method can significantly reduce resource utilization in networked control systems.