Adaptive fuzzy terminal synergetic control

A new robust controller for a class of nonlinear system is presented in which the control law is continuous unlike that used in sliding mode control. Motivated by the recently developed synergetic control we develop an indirect adaptive fuzzy synergetic controller for a non linear system. The latter is forced to evolve according to designer chosen dynamics but without the chattering problem inherent to sliding mode control. Fuzzy inference systems are used to approximate the system model nonlinear functions in an indirect adaptive scheme to account for varying operating conditions as well as for system parameters uncertainties. Further enhancement consisting in finite time convergence is also achieved using a terminal manifold technique. Simulation of stabilization and reference tracking for nonlinear systems illustrates the approach effectiveness while stability is assured in the Lyapounov sense.