Decentralized sliding mode adaptive controller design based on fuzzy neural networks for interconnected uncertain nonlinear systems

A new type controller, fuzzy neural networks sliding mode controller (FNNSMC), is developed for a class of large-scale systems with unknown bounds of high-order interconnections and disturbances. Although sliding mode control is simple and insensitive to uncertainties and disturbances, there are two main problems in the sliding mode controller (SMC): control input chattering and the assumption of known bounds of uncertainties and disturbances. The FNNSMC, which incorporates the fuzzy neural networks (FNNs) and the SMC, can eliminate the chattering by using the continuous output of the FNN to replace the "discontinuous" sign term in the SMC. The bounds of uncertainties and disturbances are also not required in the FNNSMC design. Two examples are presented to support the validity of the new controller. The simulation results show that the FNNSMC is more robust than the SMC.