Adaptive Fuzzy Terminal Sliding Mode Control for MIMO Nonlinear Systems

An adaptive fuzzy terminal sliding mode(TSM) control scheme is proposed for a class of uncertain multi-input multi-output(MIMO) nonlinear systems with unknown control direction. In this scheme, fuzzy systems are employed to approximate unknown nonlinear functions, an adaptive fuzzy controller is developed to avoid the calculation of the matrix inverse. A robust controller is employed to compensate for the lumped errors and a Nussbaum gain function is incorporated in the robust controller to estimate the unknown control direction. It is proved that all the signals in the resulting closed-loop system are bounded and that the tracking errors converge to a small residual set in finite-time. A simulation example is used to demonstrate the effectiveness of the proposed scheme.