Adaptive Robust Decoupled Sliding Mode Control for RTAC System

The focus of this paper is to design an adaptive robust decoupled fuzzy sliding-mode controller for a class of nonlinear systems. The proposed controller contains two terms; the adaptive fuzzy term and an adaptive robust term. The adaptive fuzzy term is used to improve the controlling of the preliminary oscillations, while the adaptive robust term is used to cope with uncertainties such as modeling errors and unknown sudden external disturbances, which are inevitable in practical applications. The proposed controller has an added advantage that it does not need the bound of uncertainties. Also, despite coping well with uncertainties the chattering which is a harmful phenomenon in practical applications is not observed in control signal. The asymptotic stability of the proposed controller is guaranteed via Lyapunov synthesis method. The proposed controller is applied to the highly nonlinear rotational translational actuator (RTAC) system via computer simulation. The simulation results show the effectiveness of the proposed controller in coping well with uncertainties while ensuring asymptotic stability.