Adaptive fuzzy multi-surface sliding mode control for a class of nonlinear systems

An adaptive fuzzy multi-surface sliding mode control is proposed for a class of nonlinear systems with mismatched uncertainties. It is shown that the Mamdani fuzzy logic-based function approximator is used to learn the system uncertainties first, and the iterative multi-surface sliding mode design is then carried out. Using the concept of terminal sliding mode to design the baseline controller, not only strong robustness with respect to approximation errors and nonlinearities can be obtained, but also the tracking error can be proven to converge to a small neighborhood of the origin in finite time. Simulation results are provided to show the effectiveness of the proposed approach.