Model Reference Fuzzy Sliding Mode Control of Strict-Feedback Uncertain Systems with Unknown Dead-Zone

This paper focuses on the problem of model reference fuzzy sliding mode control for a class of strict-feedback systems with mismatched uncertainties and unknown dead-zone. The original nonlinear system dynamics can be transformed into an equivalent system by means of the concept of Lie derivative. Fuzzy logical systems are used to approximate the unknown nonlinear functions and the unknown upper bounds of uncertainties. Some adaptive laws as a parameter estimation approach are used to reduce the modeling error. By virtue of Lyapunov stability theorem and the theory of sliding mode control, the proposed model reference adaptive fuzzy sliding mode controller can guarantee the stability of the whole closed-loop systems and obtains good tracking performance. Simulation results show the efficacy of the proposed method.