Sliding Mode Control for Uncertain Nonlinear Systems Using Adaptive Fuzzy Approach

摘要

A robust sliding mode adaptive fuzzy controller is proposed for uncertain single-input single-output nonlinear dynamical systems with unknown nonlinearities. The Lyapunov synthesis approach and sliding mode method are used to develop a state-feedback adaptive control algorithm based on the adaptive fuzzy model. The overall control system guarantees that the tracking error converges in the small neighborhood of zero and that all signals involved are uniformly bounded. Furthermore, thetracking design technique and the sliding mode control method are incorporated into the adaptive fuzzy control scheme so that the derived controller is robust with respect to unmodeled dynamics, disturbances and approximate errors. Compared with conventional methods, the proposed approach not only assures closed-loop stability, but also guarantees antracking performance for the overall system based on a much relaxed assumption without prior knowledge on the upper bound of the uncertainties.