Exponentially Sliding Mode Control for Uncertain Input-Delay Systems Based on Invariant Conditions

This paper provides a sliding mode control method for a class of input-delay systems with unmatched uncertainties based on new invariant conditions. The controller is constructed to guarantee that the motions of sliding surfaces are exponentially convergent to the desired manifolds with an arbitrary prespecified decay rate. The reduced-order sliding mode dynamics are also exponentially convergent to a ball such that the effects of delay and unmatched uncertainties in the sliding mode are overcome. A numerical example is included to illustrate the proposed method