Adaptive Sliding Mode Control for Motor Cyber Physical System

In this paper, the control problem of remote motor in cyber physical system (CPSs) under external disturbance is studied. An adaptive sliding mode reaching law and a double-threshold event-triggered strategy is proposed. Firstly, to reduce the chattering of the sliding mode surface, a new adaptive reaching law is designed, and the reachability is confirmed. In addition, a double-threshold event triggered strategy is proposed in order to effectively lower the system's consumption of communication resources. Finally, the stability of the system is proved. Furthermore, the effectiveness of the method is verified using a servo motor system.