Sliding mode control with adaptive fuzzy approximator for MIMO uncertain systems

This paper deals with the combination of sliding mode control (SMC) and fuzzy logic system (FLS) for a class of non-linear multi-input multi-output (MIMO) uncertain systems. An adaptive scheme for the fuzzy control is developed to approximate the unknown system functions. A SMC is then applied to reduce the effects of both approximation errors and external disturbances. Thanks to Lyapunov´s theory, the stability of the closed loop system is demonstrated. Finally, simulation results, concerning the case of a MIMO uncertain system with external disturbances is considered in order to show the efficiency of the combination of the used controllers.