Adaptive sliding mode controller design for decentralised model following of large-scale systems with time-varying delay interconnections Online publication date: Thu, 25-Nov-2010
by Shinji Shigemaru, Hansheng Wu
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 2, No. 5/6, 2010
Abstract: The problem of decentralised robust model following is considered for a class of uncertain large-scale systems with time-varying delay interconnections. It is assumed that the upper bounds of uncertainties and interconnections are unknown. For such a class of uncertain large-scale interconnected time-delay systems, some adaptation laws are introduced to updating the unknown upper bounds, and a class of decentralised local adaptive robust sliding mode controllers is proposed by combining a sliding mode controller with the adaptation law. The proposed decentralised local adaptive robust controller can guarantee that the local tracking error of each subsystem decreases asymptotically to zero in the presence of uncertainties and interconnection terms with time-varying delays. Finally, a numerical example is given to demonstrate the validity of the results.
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