Passivity fuzzy sliding mode controllers

Nonlinear systems are controlled using the fuzzy sliding mode control based on passivity techniques in this paper. A nonlinear system dynamics is described by introducing a finite number of subsystems. These subsystems normally represent the nonlinear system dynamics within appropriate regions centered by local points. Based on these subsystems and their validity conditions, plant rules are introduced. Then fuzzy sliding mode controller rules are presented corresponding to the plant rules. Finally a sliding mode controller is proposed to control the overall system using the Takas-Segno approach. The passivity of nonlinear systems, the fuzzy subsystems and the overall system is also studied. The results are applied to an inverted pendulum model to verify the success of the method.