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System structure based decentralized sliding mode output tracking control for nonlinear interconnected systems

Ding, Yueheng, Yan, Xinggang, Mao, Zehui, Spurgeon, Sarah K., Jiang, Bin (2023) System structure based decentralized sliding mode output tracking control for nonlinear interconnected systems. International Journal of Robust and Nonlinear Control, 33 (3). pp. 1704-1719. ISSN 1049-8923. E-ISSN 1099-1239. (doi:10.1002/rnc.6467) (KAR id:98109)


In this article, a decentralized tracking control scheme is proposed for a class of nonlinear interconnected systems with uncertainties using sliding mode technique. Both matched nonlinear uncertainty and mismatched known nonlinear interconnections are considered. Under the condition that the nominal isolated subsystems have relative degrees, a geometric transformation is applied to transfer the interconnected system into a new nonlinear interconnected system with a special structure to facilitate the system analysis and design. Then, a composite sliding surface is designed in terms of tracking errors, and decentralized controllers are proposed to drive the system states to the designed sliding surface in finite time and maintain a sliding motion on it thereafter. A set of conditions are developed to guarantee that the output tracking errors converge to zero asymptotically while all system state variables are bounded. The considered interconnected systems are nonlinear and it is not required that either the isolated subsystems or the isolated nominal subsystems are linearizable. The desired output signals are allowed to be time-varying. Finally, the developed results are applied to an inverted coupled-pendulum system. Simulation demonstrates that the proposed control scheme is effective.

Item Type: Article
DOI/Identification number: 10.1002/rnc.6467
Uncontrolled keywords: decentralized control, nonlinear interconnected systems, output tracking, robust control, sliding mode control
Subjects: T Technology
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Funders: National Natural Science Foundation of China (
China Scholarship Council (
Depositing User: Xinggang Yan
Date Deposited: 17 Nov 2022 12:25 UTC
Last Modified: 31 Oct 2023 09:52 UTC
Resource URI: (The current URI for this page, for reference purposes)

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