Memoryless sliding mode control for nonlinear systems with time delay disturbances using only output information

Abstract

AbstractIn this paper, nonlinear systems with time delay disturbances are studied. Both matched and mismatched disturbances are considered. By using an appropriate transformation, the system is transformed to an appropriate regular form, and the nonlinear sliding mode dynamics are derived. A set of sufficient conditions is developed, using a Lyapunov-Razuminkhin approach, such that the sliding motion is uniformly asymptotically stable. An output feedback sliding mode control, independent of the time delay, is proposed to drive the system to the sliding surface in finite time. A simulation example shows the effectiveness of the approach.