DIRECT ADAPTIVE FUZZY PI SLIDING MODE CONTROL OF SYSTEMS WITH UNKNOWN BUT BOUNDED DISTURBANCES

Abstract

An asymptotically stable direct adaptive fuzzy PI sliding mode<br />controller is proposed for a class of nonlinear uncertain systems. In contrast to<br />other existing approaches of handling disturbances, the proposed approach<br />does not require this bound to be known, only requiring that it exists.<br />Moreover, a PI control structure is used to attenuate chattering. The approach<br />is applied to stabilize an open-loop unstable nonlinear system as well as<br />the Duffing forced-oscillation chaotic nonlinear system amid significant<br />disturbances. Analysis of simulations reveals the effectiveness of the proposed<br />method in terms of a significant reduction in chattering while maintaining<br />asymptotic convergence.