An adaptive sliding mode approach to decentralized control of uncertain systems

This paper proposes a systematic adaptive sliding mode controller design for the decentralized system with nonlinear interactions and unmatched uncertainties. An adaptive tuning approach is developed to deal with unknown but bounded uncertainties/interactions. The sliding surface is designed which obviates the use of regular transformation, by solving a simple LMI-based optimization problem. The feasibility of the LMIs is also discussed in this paper. Finally, a numerical example is used to illustrate this method.