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

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="543039.fig.003a" src="https://static.hindawi.com/articles/mpe/volume-2012/543039/figures/543039.fig.003a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Sliding surface <svg height="11.825" id="M366" style="vertical-align:-3.27605pt" version="1.1" viewbox="0 0 12.8375 11.825" width="12.8375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M352 391q0 -31 -27 -44q-14 -7 -24 6q-39 48 -84 48q-23 0 -39.5 -15t-16.5 -40q0 -43 73 -90q49 -32 70 -58t21 -57q0 -58 -62 -105.5t-129 -47.5q-40 0 -75.5 25t-35.5 52q0 28 32 46q7 4 15 3t11 -6q19 -31 48.5 -50.5t54.5 -19.5q34 0 54 19.5t20 42.5q0 43 -65 81
q-97 56 -97 123q0 50 51 96q19 17 58 32.5t62 15.5q37 0 61 -18t24 -39z" id="x1D460"></path></g>
<g transform="matrix(.012,-0,0,-.012,6.438,11.762)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g>
</svg></td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="543039.fig.003b" src="https://static.hindawi.com/articles/mpe/volume-2012/543039/figures/543039.fig.003b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Sliding surface <svg height="11.825" id="M367" style="vertical-align:-3.27605pt" version="1.1" viewbox="0 0 12.8375 11.825" width="12.8375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M352 391q0 -31 -27 -44q-14 -7 -24 6q-39 48 -84 48q-23 0 -39.5 -15t-16.5 -40q0 -43 73 -90q49 -32 70 -58t21 -57q0 -58 -62 -105.5t-129 -47.5q-40 0 -75.5 25t-35.5 52q0 28 32 46q7 4 15 3t11 -6q19 -31 48.5 -50.5t54.5 -19.5q34 0 54 19.5t20 42.5q0 43 -65 81
q-97 56 -97 123q0 50 51 96q19 17 58 32.5t62 15.5q37 0 61 -18t24 -39z" id="x1D460"></path></g>
<g transform="matrix(.012,-0,0,-.012,6.438,11.762)"><path d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" id="x32"></path></g>
</svg></td></tr></table></td></tr></table>

<table>Sliding mode dynamic evolution curves.</table>

Mathematical Problems in Engineering

fig3

Figure 3

Figure 3: Direct Adaptive Fuzzy Sliding Mode Control with Variable Universe Fuzzy Switching Term for a Class of MIMO Nonlinear Systems 