Adaptive fuzzy sliding mode controller design for nonlinear MIMO systems

This paper will address the problem of controlling an unknown MIMO nonlinear affined system. A fuzzy sliding mode controller (FSMC) is used to approximate the equivalent control by using an on-line fuzzy adaptation scheme, and then the hitting control is appended to show that the proposed FSMC can result in a closed-loop system, which is stable. This scheme also provides the designers flexibility to design and to implement fuzzy rule base without domain experts and without mathematical model. The robust adaptive scheme is shown to be able to guarantee that the output tracking error can converge to, a residual set ultimately by a two-dimensional inverted pendulum system.