Adaptive fuzzy sliding mode control design: Lyapunov approach

An adaptive fuzzy sliding mode control algorithm is proposed for a class of continuous time unknown nonlinear systems. In contrast to the existing sliding mode control (SMC) design, where the presence of hitting control may introduce problems to controlled systems, the proposed adaptive fuzzy logic controller takes advantages of both SMC and proportional integral (PI) control. The chattering action is attenuated and robust performance can be ensured. The stability analysis for the proposed control algorithm is provided. Two nonlinear system simulation examples are presented to verify the effectiveness of the proposed method.