Terminal sliding mode decomposed control of multivariable linear uncertain systems
多变量线性模型不确定系统终端滑模分解控制方法

A terminal sliding mode decomposed control method for a linear multivariable system with parameter uncertainties and external disturbances was proposed. The system was converted to the block controllable form consisting of two parts, one was the range space subsystem and the other was the stable null space subsystem. The special terminal sliding mode was proposed for the range space subsystem, and the control law was designed to drive the state variables of the range space subsystem to the equilibrium points within a finite time. Then, the state variables of the stable null space subsystem converged to the equilibrium points asymptotically. The method proposed is significant for linear multivariable systems with high dimensions, which can simplify the design of controller and realize hierarchical control. Simulation results are presented to validate the design.