Integral hierarchical SMC of uncertain interconnected systems

An Integral Sliding Mode approach to hierarchical control of interconnected systems with uncertainties arising from unknown interconnection states and unknown parametric variation is proposed. The work is based on a recent study using constrained LQR showing that a two-level hierarchical control system with global coordination control provides a suitable architecture for control of uncertain interconnected systems, in which the control coordinator seeks to balance the effects of the interaction uncertainties. The new method is viewed as an extension to the constrained LQR approach and a nonlinear tutorial example problem is used to illustrate the comparison.