Adaptive Fuzzy Immune Sliding Mode Control for a Class of Uncertain Nonlinear Systems

In this paper, a stable adaptive fuzzy immune sliding mode controller (AFISMC) for a class of nonlinear uncertain systems is investigated. The fuzzy system is applied to approximate the unknown nonlinear function of plant, and then the estimation value of nonlinear function is used to design the control variable, the immune feedback system is used as a compensator for the fuzzy sliding control. The proposed approach does not need a bound to be known, only requiring that it exists, and has not any assumption for initial condition. The approach is applied to an inverted pendulum system via significant disturbances. Analysis of simulations reveals that proposed method is robust in the presence of uncertainties and bounded external disturbances.