Decentralized sliding mode control design for hybrid systems

This paper proposes a decentralized sliding mode control law for a class of large scale switching systems. It is assumed that some parts of the switching structures are fixed, and the design of the decentralized sliding mode control laws for the switching and fixed parts are carried out independently. The inclusion principle is developed so that one can expand a switching system, possibly performing sliding modes, into a higher dimensional switching system, design decentralized sliding mode controllers in the expanded space, then contract the solution for implementation on the original system. Some design issues, like connective reachability of the sliding manifold and the stability of the sliding mode equations in the expanded and original state spaces are examined. Finally, an example is given to illustrate the effectiveness of the design methodology