Adaptive sliding mode controller design based on T–S fuzzy system models

An adaptive sliding mode control (ASMC) technique based on T–S fuzzy system models is proposed in this paper for a class of perturbed nonlinear MIMO dynamic systems in order to solve tracking problems. A T–S fuzzy model is firstly formed by utilizing fuzzy theorem to amalgamate a set of linearized dynamic equations. The adaptive sliding mode controller is then designed based on this fuzzy model with perturbations. The proposed control scheme can drive the dynamics of controlled system into a designated sliding surface in finite time, and guarantee the property of asymptotical stability. It is also shown that the information of upper bound of modeling errors as well as perturbations, except the information of upper bound of input uncertainty, is not required when using the proposed controller.