STATE OBSERVER BASED FUZZY SLIDING MODE CONTROLLER FOR A CLASS OF NONAFFINE NONLINEAR SYSTEMS

This work deals with the design of a state observer based indirect adaptive fuzzy sliding mode controller for a class of nonaffine systems. A fuzzy model is used to synthesise a new indirect adaptive fuzzy sliding mode controller. The switching control signal is divided in two parts: the first one approximates at best the approximation errors and the external disturbances, and the second one attenuates the effects of the residual errors to a desired level. To overcome the restrictive assumption on the availability of the states for measurement, a state observer is introduced. The adaptation laws are deduced from the stability analysis in the sense of Lyapunov. An illustration example shows the efficiency of the proposed method.