On SMC-based indirect adaptive fuzzy control

Abstract

In this paper, a fuzzy sliding mode controller (FSMC) based on the sliding mode control (SMC) scheme is proposed. Two rule bases are utilized to represent the controlled system. The membership functions of THEN-part are changed according to adaptive law to construct a suitable equivalent control of SMC. Especially, only one adaptive factor is characterized to adapt the membership functions instead of several ones in conventional adaptive approaches. Under the design scheme, we do not only maintain the distribution of membership functions over state space but also considerably reduce computing time. We apply this FSMC to control a nonlinear inverted pendulum system for confirming the validity of the proposed approach.