Decoupling Adaptive Fuzzy Sliding-Mode Control with Rule Reduction for Nonlinear System

In this paper, adaptive fuzzy sliding-mode controller design approach with decoupling method is proposed. The decoupling method provides a simple way to achieve asymptotic stability for a class of fourth-order nonlinear system. The adaptive fuzzy sliding-mode control system is comprised of fuzzy controller and a compensation controller. The compensation controller is designed to compensate for the difference between the ideal computational controller and the fuzzy controller. Using this approach, the response of system will converge faster than that of previous reports. The simulation results for a ball-beam system presented to demonstrate the effectiveness and robustness of the method.