An intelligent sliding mode controller based on LAMDA for a class of SISO uncertain systems (Q6081290)

Asymptotic tracking problems are considered for nonlinear single -- input single -- output continuous time systems with bounded external disturbances, whose dynamics are affine in the control law. A sliding surface is introduced by an integral-differential equation. The sign function used in the conventional sliding mode control is replaced by using fuzzy logic rules and a classification and clustering algorithm based on the concept of adequacy degree. A control law is thereby obtained, chattering elimination is addressed, and convergence to the sliding surface of the error state trajectory is proved. The computational complexity of the proposed approach is analyzed. Two examples are presented in detail.