A terminal sliding mode control based on extended fuzzy disturbance observer

In this paper, a terminal sliding mode control based on fuzzy disturbance observer scheme is proposed. For a nonlinear system, the disturbance that can not be directly measured is estimated using a fuzzy disturbance observer. Considering both the terminal sliding mode surface and the observer error, a novel adaptive law for the fuzzy disturbance observer is presented. Based on the output of the fuzzy disturbance observer, a terminal sliding mode control is designed. The stability of the fuzzy disturbance observer and the closed-loop system are established using Lyapunov´s method. Finally, simulation studies for a rotational inverted pendulum are provided to confirm the performance and the effectiveness of the proposed control approach.