Rule adaptation of fuzzy sliding mode controller design

A fuzzy sliding mode controller (FSMC) synthesized through rule adaptation is proposed. There are two sets of control rule bases. The first rule base is utilized to approach the equivalent control of sliding mode control (SMC) according to an adaptive scheme. Another rule base is used to attenuate the hitting control of SMC in the sense of an heuristic. In particular, only one tuning factor is characterized to adapt the control rules, instead of several tuning parameters used by the conventional adaptive approach. The results show that the rule adaptive FSMC system is stable in the sense of Lyapunov under a common Lyapunov function. We apply this FSMC to a nonlinear inverted pendulum system for demonstrating the availability of the proposed approach.