In this article, a decentralized adaptive integral terminal sliding mode control is presented for a class of nonlinear connected systems. It is assumed that the system is also confronted by unknown disturbances, while the interconnections between subsystems are assumed unknown. An integral terminal sliding surface for each subsystem is locally considered to guarantee the stability of the closed-loop system, and to increase the convergence speed during a tracking task. The unknown interconnections between subsystems are estimated using adaptive rules. An appropriate Lyapunov candidate is chosen to perform global stability analysis. In this regard, design parameters are chosen such that the closed-loop stability is ensured. Performance of the proposed method for a mechanical connected system, including two chaotic subsystems, is shown through simulations.

中文翻译：

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存在外部扰动的非线性连通系统的分散自适应终端滑模控制设计

在本文中，针对一类非线性连接系统，提出了一种分散式自适应积分终端滑模控制。假设系统也面临未知干扰，而子系统之间的互连假设未知。局部考虑每个子系统的整体终端滑动面，以保证闭环系统的稳定性，并提高跟踪任务期间的收敛速度。子系统之间的未知互连使用自适应规则进行估计。选择合适的 Lyapunov 候选者进行全局稳定性分析。在这方面，选择设计参数以确保闭环稳定性。所提出的机械连接系统方法的性能，包括两个混沌子系统，