Decentralized sliding mode control for large-scale time-delayed systems with series nonlinearities

This paper presents a robust decentralized sliding made control for large-scale systems with delays in the interconnection and series nonlinearities in the input. The proposed sliding mode control ensures the global reaching condition of the sliding made of the composite system. Without using lime-delayed interconnection terms in the local control input, the developed local sliding mode controller is really independent of coupling subsystem states. Furthermore, the sliding mode control law is improved from the point of view of control energy conservation.