Adaptive Fuzzy Sliding Mode Control for Cross Beam System

The coupled nonlinear model of the cross beam system is transformed into a special form. This form consists of linear terms and nonlinear terms. The nonlinear terms are treated as uncertainties. The bound of the lumped uncertainty is estimated by an adaptive fuzzy controller. Thus, the model of the cross beam system is decoupled into three independent channels. The adaptive fuzzy sliding mode control method was used to design a controller for each channel. Stability analysis shows the asymptotical stability of the system under the control of above controller. The simulation results show the effectiveness of the adaptive fuzzy sliding mode control approach.