Multi-model Switching Integrated Control for a Class of Nonlinear Systems

This paper proposes a multi-model switching integrated control for a class of nonlinear systems based on terminal sliding mode control and T-S fuzzy control. This class of nonlinear systems has two control loops: the outer loop and inner loop. The resulting controller utilizes two-loop controller and provides robust tracking of the required tracks. First, the required virtual control input is determined in the outer loop such that the given mission tracks are followed if the virtual control input is tracked. This is achieved by designing an outer-loop sliding mode controller for the kinematics equation of the outer loop. Second, a multi-model switching controller based on T-S fuzzy control is designed for the inner-loop such that the required virtual control input is tracked. With the reasonable integration and switching control, the proposed method reduces the chaffering of actuators which is generated by employing sliding mode control method only. The effectiveness of the proposed method is demonstrated by the simulation results.