Adaptive fuzzy sliding mode control of nonlinear system: the second control scheme

An adaptive sliding mode control scheme in which fuzzy logic systems (approximators) are used to approximate the unknown system functions of nonlinear systems is proposed. In order to reduce the approximation errors between the true nonlinear functions and fuzzy approximators, a robust adaptive law is also proposed. The stabilities of the proposed control schemes are proved. An inverted pendulum system is considered to verify the validities of the proposed schemes in simulation.