System structure based decentralized sliding mode output tracking control for nonlinear interconnected systems

In this article, a decentralized tracking control scheme is proposed for class of nonlinear interconnected systems with uncertainties using sliding mode technique. Both matched uncertainty and mismatched known interconnections are considered. Under the condition that nominal isolated subsystems have relative degrees, geometric transformation applied to transfer system into new special structure facilitate analysis design. Then, composite surface designed in terms errors, controllers drive states finite time maintain motion on it thereafter. A set conditions developed guarantee output errors converge zero asymptotically while all state variables bounded. The considered not required either or linearizable. desired signals allowed be time-varying. Finally, results an inverted coupled-pendulum system. Simulation demonstrates effective.