Sliding mode adaptive control based on fuzzy neural networks

Based on the Fuzzy Neural Networks (FNN), a direct adaptive control scheme for a class of nonlinear system in the presence of disturbances and model uncertainties is presented. FNN and Sliding Mode Controller (SMC) are incorporated to achieve the adaptive control strategy by the smooth transformation. This methodology enhances the systems's robustness and can eliminate the high frequency of chattering efficiently while the systems' dynamical performance is improved. Stability analysis is given by using Lyapunov stability function. The simulation results demonstrate the advantages of the proposed scheme.