Adaptive sliding mode control based on FLS

Fuzzy logic system (FLS) can be utilized to approximate a nonlinear function. In this paper, an adaptive sliding mode control (SMC) scheme in which FLS is used to approximate the unknown system function f in designing the SMC for nonlinear system is proposed. In order to reduce the approximation errors between the true nonlinear function and fuzzy approximator, a robust adaptive law is also proposed. The stability of the proposed control schemes are proved and the continuous control laws are designed by introducing the boundary layer concepts. These proposed control schemes are applied to an inverted pendulum system and comparisons between the two control schemes are shown in simulations