A Novel Dynamic Observer Based Decentralized Sliding Mode Control for Nonlinear Interconnected Systems With Uncertainties

ABSTRACT In this paper, a variable structure observer based decentralized sliding mode control is proposed to control a class of nonlinear interconnected systems with matched and mismatched uncertainties. A dynamic observer is initially proposed to estimate the states of the interconnected system. Then a composite sliding surface is designed, and the stability of the sliding motion is analyzed based on the regular form of the interconnected system. Using the pre‐designed observer, a dynamic decentralized output feedback sliding mode control is presented to drive the interconnected system to the designed sliding surface in finite time, and then the sliding motion is maintained thereafter. The interconnections are employed in the control design to reduce the conservatism of the developed results. The bounds of the uncertainties, which are nonlinear and take a more general form, are relaxed. Finally, a numerical practical example is presented to illustrate the advantages of this strategy.