Robust passive control of uncertain switched time-delay systems: a sliding mode control design

Abstract

In this paper, the problem of sliding mode control (SMC) with passivity for a class of uncertain switched time-delay systems is studied. By means of the multiple Lyapunov functions techniques, a delay-dependent sufficient condition for the existence of linear sliding surface of subsystem is deduced in which the solution to the switched sliding mode dynamics is robustly exponentially stable and passive under a state-based switching law. Moreover, the sliding mode controller is designed to drive the system trajectories onto the predefined sliding surface of subsystem in finite time. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method.