Sliding-Mode Control of Uncertain Time-Varying Systems with State Delays: A Non-Negative Constraints Approach

This article investigates the sliding-mode control design problem for uncertain time-varying delayed systems. A novel non-negative constraints approach is proposed, which can be used to determine the stability of the controlled systems during the sliding motion. A new stability condition is obtained, which is easy to satisfy and verify. The parameters of the sliding-mode surface can be calculated by solving the non-negative constraints-based optimization problem defined in this article. Simulation examples are presented to illustrate the effectiveness and advantages of the developed strategy.