Adaptive Sliding Mode Control for a Class of Systems with Input Time-Delay and Unmatched Uncertainties

The state transformation is used to convert a system with uncertain and unmatched input time-delay into a delay-free one,with a sliding mode controller designed.To ensure the existence of a sliding mode surface and eliminate the possible effect of the unkown uncertain term on the controller,an adaptive sliding mode controller is further designed.In view of the unmatched and uncertain term,a sufficient condition is derived guaranteeing the delay-dependent asymptotical stability of the system in sliding mode in accordance to the Lyapunov stability theorem.Simulation result shows the feasibility and validity of the method proposed.