Adaptive gain fuzzy sliding mode control in uncertain MIMO nonlinear systems

  • Mehdi Roopaei
  • Valentina Emilia Balas
  • Tsung-Chih Lin
  • Alireza Seifi

Abstract

In this paper, an adaptive gain fuzzy sliding mode controller is developed to handle the system corrupted by uncertainties for nonlinear MIMO systems involving external disturbances. Therefore, linguistic fuzzy control rules can be incorporated in to the controller. In our proposed method, the gain of fuzzy controller is adjusted adaptively. The adaptive mechanism is used to deal with unknown perturbations and external disturbances. The main advantage of this method is that in the absence of any knowledge about the bound of uncertainty of the system, the robust behavior of the system is guaranteed. The second advantage of the proposed scheme is that the performance of the system is improved in comparison with the same technique without using adaptive gain. The work that is presented in the paper includes an extension of our previous work to tackle chattering phenomena in uncertain nonlinear MIMO systems. Simulations results illustrate the feasibility of the proposed methods.
Published
2009-08-13
Section
Articles