Abstract
This paper presents an adaptive fuzzy terminal sliding mode controller for second order nonlinear systems including external disturbances and uncertainties. An indirect approach is used to avoid the singularity problem. Fuzzy systems are employed to approximate the unknown nonlinear functions, and the approximation errors are canceled by a variable structure controller. The proposed controller combines with a continuous non-singular terminal sliding mode controller so that finite-time convergence of tracking errors can be guaranteed. The underlying stability analysis as well as parameter update laws design are carried out by Lyapunov based technique. Finally, simulation results illustrate the effectiveness of the proposed method.
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