Nonlinear adaptive sliding mode control using scalar sign function for a class of T-S fuzzy models

Abstract

This article aims to develop a nonlinear adaptive sliding mode control using scalar sign function for a class of Takagi-Sugeno (T-S) fuzzy models. First, a fuzzy model is constructed to represent the local dynamic behaviors of the given nonlinear system. The designed controller based on the T-S fuzzy models and the sliding mode surface that is defined as the tracking error also an adaptive algorithm is included in the control law using scalar sign function to reduce the chattering phenomenon of SMC. In addition the globally asymptotic stability of the closed-loop system is mathematically proved. Finally, the performance of the proposed nonlinear adaptive sliding mode control (NASMC) strategy is demonstrated through the simulation of an inverted pendulum on a cart.