Direct Adaptive Fuzzy Sliding Mode Control for a Class of Nonlinear Systems
一类非线性系统的直接自适应模糊滑模控制

In this paper a new adaptive fuzzy sliding mode control (AFSMC) algorithm for a class of nonlinear systems is proposed. Firstly, under the condition that the nonlinear dynamic function of the systems is estimable and bounded, sliding mode control law is presented. Then by self-tuning the consequent part parameters of the fuzzy logic system (FLS) the designed adaptive fuzzy logic system (AFLS) can approximate the sliding mode control law based on the estimation of the system nonlinear dynamic function. The adaptive law is obtained based on the gradient of the objective function. Hence the performance of the adaptive fuzzy logic control (AFLC) has not only the performance of the sliding mode control law but also the characteristic of free chattering thanks to the filter function of the AFLS. A numerical simulation example illustrates the effective of the designed control law.