Adaptive Sliding Mode Control for Distributed Control Systems with Mismatched Uncertainty

Adaptive-based sliding mode control scheme is developed to solve the problem of mismatched uncertainty that exists in communication channels and external disturbance for a class of distributed large-scale systems. A linear sliding manifold is adopted to guarantee asymptotic stability of each subsystems and achieve the global robustness. Meanwhile, by adjusting the parameters estimation of adjustable gains via proposed adaptive scheme, the upper bound of the unknown uncertainty can be obtained. Then an distributed adaptive sliding mode controller is designed combining with the relative information of neighboring subsystems. It is shown that the presented controller has the capability to achieve the asymptotic stability of each closed-loop subsystems via Lyapunov theory. Finally, a simulation example applied to a network of two quad-rotor dynamical systems is given to exhibit the effectiveness of the proposed control scheme.