Adaptive Fuzzy Sliding Mode Control for a Class of Uncertain Dynamic Systems*

Fuzzy Logic System (FLS) can be utilized to approximate complex uncertain nonlinear dynamic systems. In this paper, an adaptive fuzzy Sliding Mode Control (SMC) scheme is proposed where FLS is used as an approximation of the unknown systems. In order to reduce the approximation errors between the true nonlinear model and FLS, an adaptive law is presented. The stability of the controlled system is proved by using Lya-punov stability theory. The proposed control scheme is applied to an inverted pendulum system to show its effectiveness .