Hierarchical fuzzy sliding-mode control

A hierarchical fuzzy sliding-mode control is proposed to achieve asymptotic stability and favorable decoupling performance. In this approach, the nonlinear system is decoupled into several subsystems and the state response of each subsystem can be designed to be governed by a corresponding sliding surface. Then the whole system is controlled by a hierarchical sliding-mode controller. The proposed design method is applied to investigate the decoupling control of an inverted pendulum. Simulation is performed and a comparison between the proposed hierarchical fuzzy sliding-mode control and a conventional fuzzy sliding-mode decoupling control is made to demonstrate the effectiveness of the proposed design method.