Adaptive fuzzy sliding mode control for uncertain nonlinear systems

An application of adaptive fuzzy sliding mode control is presented in this paper. The parameters of sliding mode control (the extended feedback gain and switching gain) are adapted during the control process using a fuzzy self-learning mechanism such that better control performance in comparison with sliding mode control with fixed parameters without chattering is achieved. Moreover, the nonlinear functions describing state space model of the controlled plant do not need to be known. The method is applied on control of a laboratory model of a pendulum on a cart.