Design of Decentralized Adaptive Integral Terminal Sliding Mode Controller for Linear Interconnected Mechanical Systems in the Presence of External Disturbance

In this paper, a tracking decentralized Adaptive Integral Terminal Sliding Mode control (DAITSMC) technique is proposed for a class of linear interconnected mechanical systems with unknown linear interconnections between subsystems and in the presence of disturbance is considered. In this way, the interconnected system is divided into several subsystems. Then an integral terminal sliding surface is considered for each subsystem. The proposed approach increases the speed of input tracking in a finite time as well as the disturbance attenuation. The effect of unknown linear interconnections between subsystems is considered as uncertainty that is estimated by adaptive rules. The stability of the closed-loop system is guaranteed by a Lyapunov function and selecting the appropriate design parameters. The developed method is applied to two interconnected mechanical systems; the simulation results show that the proposed method (DAITSMC) is efficient for interconnected systems in the presence of disturbance. Comparison of simulation results with several control methods shows that the proposed method (DAITSMC) is efficient for linear interconnected systems in the presence of disturbance and the convergence error becomes zero faster.