Global Robust Sliding Mode Control for Time-Delay Systems with Mismatched Uncertainties

A novel robust sliding mode control method for time-delay systems with mismatched uncertainties is presented, taking into consideration of both the norm-bounded mismatched uncertainties in the input matrix and the unknown input disturbance. First of all, an original time-delay system is changed into a new form without time delay via a nonsingular transformation, based on which, an integral sliding mode controller is then designed in the form of linear matrix inequalities, to guarantee the existence of the sliding motion from the initial time. In order to estimate the upper bound of unknown input disturbance, a new adaptive law is also proposed. Finally, a numerical simulation case is given to show the effectiveness of the proposed method.