Fuzzy sliding mode with adaptive gain control for nonlinear MIMO systems

: In this paper, a fuzzy sliding mode controller (FSMC) with adaptive gain is proposed for a class of MIMO nonlinear systems. The coupled system can be divided into two different subsystems, each of which can be separated into two sliding surfaces created by the state variables. The integration of these two sliding surfaces requires the introduction of an intermediary variable. In order to ensure that the control system is stable, the adaptive gain is derived using the Lyapunov method. The synthesized fuzzy sliding mode control with adaptive gain is applied to an inverted pendulum to illustrate the suggested control technique. The performance and robustness of the proposed controller are compared, terms of time, with those of provided by fuzzy sliding mode controller. This comparison reveals the superiority of the proposed method over the fuzzy sliding mode controller, in terms of the system stabilization and tracking of the trajectory.