Observer-Based Adaptive Fuzzy Sliding Mode Control of Uncertain Multiple-Input Multiple-Output Nonlinear Systems

In this paper, the proposed observer-based robust adaptive fuzzy sliding mode control scheme can deal with the problem of robust stability for a class of uncertain multi-input multi-output (MIMO) nonlinear systems whose states are not available. The fuzzy basis function is used to approximate an unknown nonlinear function according to some adaptive laws, and then the state observer is designed for estimating the states of the plant, upon which a adaptive fuzzy sliding mode controller is investigated. Based on the Lyapunov stability theorem and the theory of variable structure control, the proposed robust adaptive fuzzy sliding mode control scheme can guarantee the robust stability of the whole closed-loop system and obtain good tracking performance. Finally, the simulation results are carried out on a two-link robot manipulator to illustrate the performance of the proposed approach.