Decentralized sliding mode control for perturbed nonlinear large scale systems with variable time delay in interconnections based on Inertial Delay Control

In this paper, a new decentralized sliding mode control based on Inertial Delay Control (IDC) is proposed for a class of perturbed nonlinear large scale systems with variable time delay in interconnections. IDC is used to estimate the nonlinear perturbations, external disturbances and interconnection effects with time varying delay in interconnections. The sliding mode control developed in this paper does not need the bounds of uncertainties or the interconnections as well as the delay in interconnections. Further, unlike the conventional decentralized sliding mode control the control proposed in this paper assures local sliding in each subsystem and is not discontinuous. The effectiveness of the proposed control is demonstrated with simulation.