Improved fault-tolerant fuzzy sliding-mode control for a class of MIMO nonlinear systems

This paper focuses on the synthesis of adaptive fuzzy fault tolerant controller which combines a sliding mode controller and a Proportional Integral controller (PI). The free parameters of the adaptive fuzzy controller as well as the PI controller are tuned on-line based on Lyapunov approach. The overall adaptive fuzzy sliding mode scheme guarantees the global stability of the resulting closed-loop system as well as the convergence of the reference tracking error vector. The proposed method is applied to a robot manipulator of two degrees of freedom system and achieves satisfactory simulation results.