Adaptive Fuzzy Sliding Mode Control of Uncertain Nonlinear SISO Systems

In order to improve the performance of single-input single-output (SISO) nonlinear systems with uncertainties, an adaptive fuzzy sliding mode controller (AFSMC) that combines linearization feedback is presented in this paper. The fuzzy logic system is used to approximate the unknown system function and the AFSMC algorithm is designed by used of sliding mode control techniques. Based on the Lyapunov theory, the continuous function is designed to eliminate the chatting action of the control signal. The simplicity of the proposed scheme facilitates its implementation and the overall control scheme guarantees the global asymptotic stability if all the signals involved are uniformly bounded. Simulation results have shown that the proposed controller shows superior tracking performance. AFSMC can effectively achieve desired performance and have much more advantages over conventional SMC.