Fuzzy adaptive sliding mode controller for non-linear MIMO systems with uncertainties

In this paper a practical design methodology has been presented for non-linear MIMO systems with dynamic uncertainties. The new approach combines the fuzzy logic techniques and the adaptive control schemes with sliding mode control to enhance satisfactorily the robustness and performance as well as excellent chattering alleviation. The proposed control scheme does not require the system model before hand. A supervisory control has been employed to assure that the fuzzy sliding mode controller can achieve a stable closed-loop through Lyapunov´s stability function.