Experimental evaluation of a T-S model-based sliding-mode control scheme

This paper presents the experimental evaluation of a fuzzy sliding-mode control scheme. The control law consists of three parts: a nominal controller, a sliding-mode disturbance observer (SMDO), and an adaptive fuzzy sliding-mode controller (AFSMC) that is based on a T-S model. The nominal controller is employed to specify the desired closed-loop dynamics whereas the SMDO as well as the AFSMC are designed to compensate for unknown perturbation. Nevertheless, the perturbation can be considered to comprise a modellable part and an unmodelable part, which are to be compensated for by the SMDO and the AFSMC, respectively. Experimental evaluations of the SMDO-AFSMC scheme are conducted by practically applying the scheme to a four-bar linkage system.