Global robust optimal sliding-mode control for uncertain systems with time-delay
不确定时滞系统的全局鲁棒最优滑模控制

The design problem of robust optimal linear quadratic regulators(LQRs) for a class of uncertain systems with time-delay is considered. By using a series-based approximation approach, we transform the solution of a LQR problem into an iterative solution of a linear two-point-boundary-value problem without time-delay. After the approximate solution to the LQR problem for the original system with time-delay is obtained, we apply the sliding-mode control theory to design the LQR controller. Thus, a global robust optimal sliding-mode control(GROSMC) system is developed. This system is globally robust to uncertainties, and maintains the same sliding-mode dynamics as the original optimal LQR system. The simulation results of the proposed approach are compared with those of the original optimal LQR, successfully demonstrating the efficiency and other advantages of the proposed approach.