Sliding-mode control for uncertain systems with input saturation
一类控制输入饱和受限的不确定系统滑模控制

The sliding-mode control for uncertain time-delay systems with input saturation is considered. There exist in these systems uncertainties in both state matrix and input matrix. An integral sliding surface is constructed, and a special sliding-mode controller is designed such that the state trajectories can be driven onto the specified sliding surface in a finite period of time in spite of the effects of both the parameter uncertainties and input saturation. By means of the equivalent control law, a sufficient condition is given to guarantee the asymptotic stability of the sliding motion. An example is provided to illustrate the effectiveness of the proposed method.