Adaptive double immune sliding mode control for a class of uncertain nonlinear systems

An adaptive double immune sliding mode controller (ADISMC) for a class of nonlinear uncertain systems is investigated in this paper. The T-S fuzzy system is applied to approximate the unknown nonlinear function of plant, and then the estimation value of nonlinear function is used to design the control law, the double immune feedback system is used as the compensator for the fuzzy sliding control. The proposed approach does not need a known bound, but requires the existence of such a bound, and has not any assumption for initial condition. The approach is applied to an inverted pendulum system with disturbances. Analysis of simulations shows that proposed method is robust in the presence of uncertainties and bounded external disturbances.