Robust Control of Uncertain Switched Delay Systems: a Sliding Mode Control Design

Abstract

This paper investigates the robust sliding mode control problem for a class of uncertain switched delay systems. A single sliding surface is constructed such that the reduced-order equivalent sliding motion restricted to the sliding surface is completely invariant to all admissible uncertainties. For the cases of known delay and unknown delay, the existence conditions of the sliding surface are proposed, respectively. The corresponding hysteresis switching laws are designed to asymptotically stabilize the sliding motion. Furthermore, variable structure controllers are developed to drive the state of the switched system to reach the single sliding surface in finite time and remain on it thereafter. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.