Abstract
In this paper, the fuzzy approximator and sliding mode control (SMC) scheme are considered. An adaptive SMC scheme in which the fuzzy logic system (approximator) is used to approximate the unknown system function f in designing the SMC for a nonlinear system is proposed. In order to reduce the approximation errors between the true nonlinear function and fuzzy approximator, a robust adaptive law is also proposed. The stabilities of the proposed control schemes are proved. These proposed control schemes are applied to an inverted pendulum system and the comparisons between the two control schemes are shown in simulations.
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