Fuzzy adaptive sliding-mode control for MIMO nonlinear systems

In this paper, the stable adaptive fuzzy sliding-mode controller is developed for nonlinear multivariable systems with unavailable states. When, the system states are not available, the estimated states from a semihigh gain observer are used to construct the output feedback fuzzy controller by incorporating the dynamic sliding mode. It is proved that uniformly asymptotic output feedback stabilization can be achieved with the tracking error approaching to zero. A nonlinear system simulation example is presented to verify the effectiveness of the proposed controller.