Direct adaptive fuzzy sliding mode control for a class of non-affine discrete nonlinear systems

Direct adaptive fuzzy sliding mode control design for discrete non-affine nonlinear systems is presented to trajectory tracking problems with disturbance. In order to eliminate chattering of sliding mode control, dynamic fuzzy logical system (DFLS) is used for implementing equivalent control, in which parameters are self-tuning online. Stability of the SMC is validated using Lyapunov analysis theory. The over-all system is adaptive and asymptotically stable with chattering free. Simulations of a numerical example verified the performance of the control design.