Integral Sliding Mode Control for a Class of Uncertain Switched Nonlinear Systems

摘要

In this paper, a new integral sliding mode control scheme is proposed for a class of uncertain switched nonlinear systems. First, a nonlinear integral sliding surface is constructed such that the switched system under the sliding mode is exponentially stable for switching laws with an average dwell time switching property. Then, variable structure controllers are designed to guarantee the existence of the sliding mode from the initial time. Robustness of the closed-loop system in the whole state space is obtained. Finally, a numerical example is given to illustrate the effectiveness of the proposed design method.