Sliding Mode Control of Time-Delay Systems with Delayed Nonlinear Uncertainties

Abstract

This paper considers a class of time delay systems with delayed states and nonlinear uncertainties using sliding mode techniques. In order to improve robustness, matched and mismatched disturbances are considered and assumed to be nonlinear functions of system states and delayed states. A sliding function is designed and a set of sufficient conditions is derived to guarantee the stability of the corresponding sliding motion by using Lyapunov-Razumikhin approach which allows large time varying delay with fast changing rate. A delay dependent sliding mode control is synthesized to drive the system to the sliding surface in finite time and maintain a sliding motion thereafter. Effectiveness of the proposed method is tested via a case study on a continuous stirred tank reactor system.