Multiple sliding mode fuzzy control of nonlinear systems with mismatched uncertainties

A multiple sliding mode adaptive fuzzy control scheme was proposed for a class of nonlinear systems with mismatched uncertainties. By combining the parameter smooth projection algorithm and the integral-type Lyapunov design technology with the sliding mode design technology with boundary layer, the performances for the system to avoid the parameter drift phenomena, the chattering phenomena, and the controller singularity problem were improved. It was proved that the tracking error converges to the prescribed boundary layer and all the signals in the closed-loop system were bounded. Simulation results demonstrate the effectiveness of the proposed algorithm.