Layered sliding mode control for nonlinear systems based on T-S fuzzy model

A layered sliding mode control strategy for uncertain nonlinear systems is proposed. This control design can reduce the dimension of fuzzy subsystems. Based on Takagi-Sugeno (T-S) fuzzy model, the design of control is two layers. First, the inner layer design of control is for fuzzy subsystems. The local sliding mode surface is constructed based on linear matrix inequality (LMI) and local sliding mode controller is designed only to guarantee the stability of fuzzy subsystem and reduce the dimensions of the controlled local subsystem. Then the outer design of control as global supervisory controller is to guarantee the stability of the nonlinear systems. Based on the property of reduced dimension and robustness of sliding mode control, the control strategy can reduce the complex and improve the robustness of the controlled nonlinear systems. Simulation example shows the effectiveness and feasibility of this method.