Distributed model reference adaptive sliding mode control for spatially interconnected systems with perturbed links

In this paper, a distributed adaptive sliding mode control scheme is developed for solving the robust tracking problem for a class of spatially interconnected systems with perturbed links based on Lyapunov stability theorem. The adaptation laws are proposed to update the unknown upper bound of nonlinear perturbations. Then distributed integral sliding mode controllers are constructed based on the information from the adaptive scheme, combined with the approaching law method so as to improve the dynamic quality of the reaching phase. The proposed tracking controller can ensure that the resulting closed-loop large-scale system is uniformly bounded and the states of controlled systems asymptotically track those of the reference models. Moreover once the systems enter the sliding manifold, their dynamics are insensitive to matching perturbations and external disturbance. Finally, an example is given to demonstrate the feasibility and validity of the proposed control strategy.