Sliding mode control with uncertainty adaptation for uncertain input-delay systems

This paper deals with a sliding mode control with uncertainty adaptation for the robust stabilization of uncertain input-delay systems. The types of uncertainties comprise unknown time-varying nonlinear parameter perturbations and external disturbance. A sliding surface including a state predictor is employed to compensate for the input delay. The proposed method does not need a priori knowledge of upper bounds on the norm of the uncertainties, but estimates them by using the adaptation scheme based on the sliding surface. Then, a robust control law with uncertainty adaptation is derived to ensure the existence of the sliding mode.