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In this paper, the main results are focused on the design of a robust tracking controller for a class of nonlinear Multi Input Multi Output (MIMO) systems involving uncertainties and external disturbances. A hybrid adaptive robust tracking control scheme which is based upon a combination of sliding mode technique, Proportional Integral (PI) controller and fuzzy control design is developed. Based on the Lyapunov theorem, the proposed adaptive fuzzy control system can guarantee the global stability and the robustness of the whole closed-loop system and reduce the chattering problem without deteriorating the tracking performances. A simulation example is finally included to illustrate the tracking performances of the proposed approach.