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Mathematical Problems in Engineering
Volume 2012, Article ID 543039, 21 pages
Research Article

Direct Adaptive Fuzzy Sliding Mode Control with Variable Universe Fuzzy Switching Term for a Class of MIMO Nonlinear Systems

1Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian 116024, China
2School of Mathematics and Statistics, Henan University of Science and Technology, Luoyang 471039, China

Received 8 October 2012; Accepted 18 November 2012

Academic Editor: Hamid Reza Karimi

Copyright © 2012 Guo Haigang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Combining adaptive fuzzy sliding mode control with fuzzy or variable universe fuzzy switching technique, this study develops two novel direct adaptive schemes for a class of MIMO nonlinear systems with uncertainties and external disturbances. The proposed control schemes consist of fuzzy equivalent control terms, fuzzy switching control terms (in scheme one) or variable universe fuzzy switching control terms (in scheme two), and compensation control terms. The compensation control terms are used to relax the assumption on fuzzy approximation error. Based on Lyapunov stability theory, the parameters update laws are adaptively tuned online and the global asymptotic stability of the closed-loop system can be guaranteed. The major contribution of this study is to develop a novel framework for designing direct adaptive fuzzy sliding mode control scheme facing model uncertainties and external disturbances. The derived schemes can effectively solve the chattering problem and the equivalent control calculation in that environment. Simulation results performed on a two-link robotic manipulator demonstrate the feasibility of the proposed control schemes.