Design of robust fuzzy-model-based controller with sliding mode control for SISO nonlinear systems

In this paper, we present the design of a new type of fuzzy controllers for controlling complex single-input-single-output systems by incorporating sliding mode control theory with fuzzy control technology. First, a fuzzy model of the given nonlinear system is constructed to represent the local dynamic behaviors of the given nonlinear system. A global controller is then constructed by combining all local state feedback controllers and a global supervisory sliding mode controller. Improved robustness and tracking performance are obtained by a seamless integration of fuzzy-model-based control and sliding mode control. In addition, stability of controlling the original underlying nonlinear systems is guaranteed owing to the robustness of the sliding mode control method to system parameter uncertainties. Two simulation examples are included to show the effectiveness and feasibility of the developed integrated controller. (C) 2002 Elsevier Science B.V. All rights reserved.