Adaptive fuzzy sliding mode controller design for folding-boom aerial platform vehicle

In this paper, an adaptive fuzzy sliding mode controller (AFSMC) is presented for the tracking control of work platform of folding-boom aerial platform vehicle. Chattering caused by the high speed switching control in sliding mode controller may degenerate the system performance and result in unpredictable instabilities. The proposed AFSMC could eliminate the chattering by substituting the discontinuous switching control with the continuous control obtained from adaptive fuzzy system. Since the adaptive control law is obtained from Lyapunov stability conditions, the stability and convergence of the overall system can be ensured. The simulation results demonstrate that the AFSMC is very effective in the case of system uncertainties. Not only is the vibration of the work platform suppressed, but also the tracking error of it is attenuated.