For　a　class　of　matched　uncertain　MIMO　linear　systems　with　state　time-delay　and　the　known　external　disturbances,　an　adaptive　sliding　mode　control　method　was　proposed　based　on　the　linear　matrix　inequality　theory.　A　sufficient　condition　for　the　existence　of　linear　sliding　surface　was　given　in　terms　of　linear　matrix　inequality.　When　into　the　sliding　mode,　system　was　restricted　to　the　sliding　surface　and　completely　invariant　to　matched　uncertainties　and　state　time-delay.　For　controller　output　chattering　case,　the　sigmoid　function　instead　of　sign　function　was　introduced　and　an　adaptive　sliding　mode　controller　was　further　designed.　Under　the　adaptive　laws,　boundary　layer　and　switching　gain　of　the　sigmoid　function　can　be　adjusted　adaptively,　which　can　reduce　the　high　frequency　chattering　of　outputs.　The　stability　of　this　control　method　based　on　Lyapunov　theory　was　proved.　Finally,　the　simulation　results　of　an　example　which　about　the　intelligent　vehicle＇s　lane　keeping　was　investigated　to　show　the　feasibility　and　effectiveness　of　this　control　method.