Adaptive fuzzy sliding mode control for a class of underactuated systems

Abstract

This paper proposes an adaptive fuzzy sliding-mode controller for a class of underactuated systems. Here, the underactuated system is decoupled into two subsystems, and respectively define a sliding surface for each subsystem. The fuzzy models are applied to estimate the unknown functions of the controlled underactuated system. Then, we will propose the adaptive fuzzy sliding model controller to guarantee the tracking performance. Finally, computer simulations are given to demonstrate the tracking performance of the proposed control strategy.