Adaptive fuzzy terminal sliding mode control for a class of MIMO uncertain nonlinear systems

• Published in: Fuzzy sets and systems Vol. 179; no. 1; pp. 34 - 49
• Main Authors: Nekoukar, V., Erfanian, A.
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier B.V 16.09.2011; Elsevier
• Subjects: Adaptive control systems; Adaptive fuzzy control; Applied sciences; Circuit properties; Combinatorics; Combinatorics. Ordered structures; Computer science; control theory; systems; Control systems; Designs and configurations; Digital circuits; Dynamical systems; Electric, optical and optoelectronic circuits; Electronic circuits; Electronics; Exact sciences and technology; Functional electrical stimulation; Fuzzy logic; Fuzzy system models; Information, signal and communications theory; Mathematical methods; Mathematics; Miscellaneous; Nonlinear dynamics; Sciences and techniques of general use; Sliding mode control; Strategy; Telecommunications and information theory; Terminal sliding mode; Terminals; Theoretical computing; Time-varying; Adaptive fuzzy control; Functional electrical stimulation; Terminal sliding mode; Time-varying; Fuzzy system models; Fuzzy system; Adaptive algorithm; Error estimation; Control system; Fuzzy set; Non linear system; Adaptive control; Hyperplane; Robotics; Convergence; Manipulator; Fuzzy logic; Fuzzy control; Engineering; Experimental result; System performance; Information processing; Learning algorithm; Numerical stability
• ISSN: 0165-0114; 1872-6801
• DOI: 10.1016/j.fss.2011.05.009

This paper presents a new adaptive terminal sliding mode tracking control design for a class of nonlinear systems using fuzzy logic system. The terminal sliding mode control (TSM) was developed to provide faster convergence and higher-precision control than the linear hyperplane-based sliding control. However, the original TSM encountered singularity problem with discontinuous control action. Moreover, a prior knowledge about the plant to be controlled is required. The proposed controller combines a continuous non-singular TSM with an adaptive learning algorithm and fuzzy logic system to estimate the dynamics of the controlled plant so that closed-loop stability and finite-time convergence of tracking errors can be guaranteed. The performance of the proposed control strategy is evaluated through the control of a two-link rigid robotic manipulator. Finally, the effectiveness of the proposed scheme is demonstrated through the control of the ankle and knee movements in paraplegic subjects using functional electrical stimulation. Simulation and experimental results verify that the proposed control strategy can achieve favorable control performance with regard to system parameter variations and external disturbances. ► We propose an adaptive continuous nonsingular terminal sliding mode control. ► The dynamics of the plant is identified on-line requiring no off-line learning phase. ► Closed-loop stability and finite time convergence of tracking error are guaranteed. ► The simulation and experimental results show the higher-precision tracking control. ► The robustness with regard to system parameter variations and disturbance is achieved.