Adaptive fuzzy moving sliding mode control of unknown multivariable nonlinear time delay systems

In this paper, an adaptive fuzzy moving sliding mode controller for unknown multivariable nonlinear dynamical system involving plant uncertainties and external disturbances is proposed. Two control techniques, i.e., adaptive fuzzy control scheme, and moving sliding mode control design, are incorporated to solve the robust nonlinear tracking problem. Due to universal approximation theorem, time delay fuzzy neural network (FNN) is constructed to approach time delay system functions, to perform the unknown nonlinear control actions. Simultaneously, in order to achieve fast and robust regulation and to enhance robustness in the presence of disturbance and parameter variations, moving sliding mode control is introduced to trade-off between reaching phase and sliding phase, hence the sliding surface is moved by changing the magnitude of the slope by adaptive laws and varying the intercept by tuning algorithm. The simulation example is included to confirm the validity and performance of the advocated design methodology.