Research ArticleAdaptive backstepping sliding mode control with fuzzy monitoring strategy for a kind of mechanical system

- An adaptive back-stepping sliding mode control for a kind of mechanical system is proposed.
- The proposed control method ensures the occurrence of the sliding motion in finite-time.
- To obtain a better perturbation rejection property, an adaptive control law is employed to compensate the lumped perturbation.
- The developed control scheme not only holds the robustness, but also avoids chatter phenomenon.

A novel adaptive backstepping sliding mode control (ABSMC) law with fuzzy monitoring strategy is proposed for the tracking-control of a kind of nonlinear mechanical system. The proposed ABSMC scheme combining the sliding mode control and backstepping technique ensure that the occurrence of the sliding motion in finite-time and the trajectory of tracking-error converge to equilibrium point. To obtain a better perturbation rejection property, an adaptive control law is employed to compensate the lumped perturbation. Furthermore, we introduce fuzzy monitoring strategy to improve adaptive capacity and soften the control signal. The convergence and stability of the proposed control scheme are proved by using Lyaponov′s method. Finally, numerical simulations demonstrate the effectiveness of the proposed control scheme.