Synthesized sliding mode and time-delay control for a class of uncertain systems (Q5926196)

A class of uncertain nonlinear control systems is considered. To eliminate chattering, a boundary layer is introduced at the cost of the tracking accuracy. Under suitable conditions, the sliding mode control is incorporated with a time-delay control during the sliding phase to reduce the switching gain. A good estimation of the time-delay derivative of the system state have to be available and the system uncertainties have to be slowly varying to ensure effectiveness of the proposed approach. An illustrative example is also presented.