Adaptive fuzzy sliding mode controller for a class of SISO nonlinear time-delay systems

In this paper, we propose an adaptive fuzzy controller for a class of nonlinear SISO time-delay systems. The plant model structure is represented by a Takagi-Sugeno (T-S) type fuzzy system. The T-S fuzzy model parameters are adjusted online. The proposed algorithm utilizes the sliding surface to adjust online the parameters of T-S fuzzy model. The controller is based on adjustable T-S fuzzy parameters model and sliding mode theory. The stability analysis of the closed-loop system is based on the Lyapunov approach. The plant state follows asymptotically any bounded reference signal. Two examples have been used to check performances of the proposed fuzzy adaptive control scheme.