Decentralized Tracking Controller Design using Proportional-Integral Sliding Mode Control

M.N. Ahmad, J.H.S. Osman, and M.R.A. Ghani (Malaysia)


Nonlinear Systems, Decentralized Tracking Controller, Sliding Mode Control, Matched Uncertainties.


This paper proposes a decentralized tracking controller for a class of nonlinear inter-connected uncertain systems with matched uncertainties. A robust decentralized sliding mode controller is derived such that for each sub system, the actual trajectory tracks the desired trajectory using only the local states information. The Proportional Integral (PI) sliding mode is chosen to ensure the stability of the overall dynamics during the entire period i.e. the reaching phase and the sliding phase. A simulation study is presented to illustrate the effectiveness of the proposed controller.

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