Adaptive Fuzzy Sliding Mode Control Using Multiple Models Approach

In this paper, an adaptive fuzzy sliding mode controller using multiple models approach is presented. By using the multiple models technique the nominal part of the control signal is constructed according to the most appropriate model at different environments. Adaptive single-input single-output (SISO) fuzzy system is used to approximate the discontinuous part of control signal; control gain, in a classical sliding mode controller. The key feature of this scheme is that prior knowledge of the system uncertainties is not required to guarantee the stability. Also the chattering phenomenon in sliding mode control is alleviated and steady tracking error is eliminated. Moreover, a theoretical proof of the stability and convergence of the proposed scheme using Lyapunov method is presented