Sliding Mode with Time Delay Control for MIMO nonlinear Systems With unknown dynamics

In this paper, the control problem of Multi-Input Multi-Output (MIMO) nonlinear Systems with unknown dynamics is proposed. A novel method based on the Sliding Mode with Time Delay Control (SMTDC) is proposed by combining a Sliding Mode Control (SMC) with saturation (sat) function and Time Delay Control (TDC). This method (SMTDC), allows chattering reduction on control inputs and estimates the amounts of unknown or unmodeled nonlinear dynamics and unexpected uncertainties and cancels them. This algorithm was simulated on the model of the ANAT robot arm system to demonstrate the effectiveness of the proposed design method.