Abstract This article proposes a design of robust integral sliding mode control under arbitrary time-dependent switching rules for uncertain switched systems (SSs). First, a description of the control problem for the switched system is presented, after which a recursive searching method of the common Lyapunov function (CLF) for the robust stable matrix set is proposed. Based on the proposed CLF searching method, a common robust integral-type sliding mode surface is then designed, which is robust to the unmatched uncertainties. Consequently, a sliding mode controller is designed so that the system state remains on the sliding mode surface from the initial time instant. Finally, the correctness and performance of the proposed control design are verified through simulations. The controlled switched system with unmatched uncertainty in the sliding mode is robust stable under any time-dependent switching signal.

中文翻译：

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任意切换规则下不确定切换系统的鲁棒积分滑模控制

摘要 本文提出了一种针对不确定切换系统（SSs）在任意时间相关切换规则下的鲁棒积分滑模控制设计。首先描述了切换系统的控制问题，然后提出了鲁棒稳定矩阵集的公共李雅普诺夫函数(CLF)的递归搜索方法。基于所提出的CLF搜索方法，然后设计了一个通用的鲁棒积分型滑模面，它对不匹配的不确定性具有鲁棒性。因此，设计了一个滑模控制器，使系统状态从初始时刻开始保持在滑模面上。最后，通过仿真验证了所提出的控制设计的正确性和性能。