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

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