Sliding Mode Control with Adaptive Fuzzy Compensation for Uncertain Nonlinear System

Fuzzy sliding mode control as a robust and intelligent nonlinear control technique is proposed to control processes with severe nonlinearity and unknown models. This paper proposes a new adaptive tracking fuzzy sliding mode controller for nonlinear systems in the presence of fuzzy compensation. The main contribution of the proposed method is that the fuzzy system is used to realize the adaptive approximation of the unknown part of the model, and the fuzzy gain can be reduced effectively. The fuzzy self-adaptive rate is derived through the Lyapunov method, and the stability and convergence of the whole closed-loop system are guaranteed by adjusting the adaptive weight value. The performance of the proposed approach is evaluated for double joint rigid manipulator problems. The simulation results illustrate the effectiveness of our proposed controller.