Decentralized model reference adaptive sliding mode control based on fuzzy model

A new design scheme of decentralized model reference adaptive sliding mode controller for a class of MIMO nonlinear systems with the high-order interconnections is proposed. The design is based on the universal approximation capability of the Takagi-Seguno (T-S) fuzzy systems. Motivated by the principle of certainty equivalentcontrol, a decentralized adaptive controller is designed to achieve the tracking objective without computation of the T-S fuzz ymodel. The approach does not require the upper bound of the uncertainty term to be known through some adaptive estimation.By theoretical analysis, the closed-loop fuzzy control system is proven to be globally stable in the sense that all signalsinvolved are bounded, with tracking errors converging to zero. Simulation results demonstrate the effectiveness of the approach.