Decentralised sliding mode control for a class of nonlinear interconnected systems with unstable internal dynamic

In this paper, the problem of decentralised sliding mode control for nonlinear interconnected systems with unstable internal dynamic is studied. For each subsystem whose internal dynamic is unstable and can be linearised, a sliding surface composed of corresponding subsystem state variables is designed and the stability of sliding mode dynamic is analysed. Under a reachability condition, a decentralised sliding mode control is designed to force the interconnected system states to the sliding surface in finite time and maintain a sliding motion thereafter. The proposed method is proved effective through a simulation example of double translational oscillator with rotational actuator (TORA). © 2024 Inderscience Enterprises Ltd.