Design of a sliding mode controller for decentralised multi-input systems [Brief Paper]

摘要

According to the Lyapunov stability theorem, a design of the multiple-sliding surface (MSS) control scheme for a class of decentralised multi-input perturbed systems is proposed. Some adaptive mechanisms embedded in both the MSS and the robust controller are designed for each subsystem so that the perturbations and the effects of the unknown interconnections can be effectively overcome, and achieve asymptotical stability. This is also achieved without the knowledge of upper bounds of the perturbations except those of the uncertainties in the input gains. Finally, an example of controlling a multimachine is used to demonstrate the feasibility of the proposed methodology.