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Mathematical Problems in Engineering
Volume 2013 (2013), Article ID 734094, 7 pages
Research Article

Fuzzy Sliding Mode Controller Design Using Takagi-Sugeno Modelled Nonlinear Systems

1Laboratoire d’Automatique et de Robotique, Université de Constantine, Route d’Ain El Bey, Constantine, Algeria
2MIS (EA 4290), University of Picardie Jules Verne, 33 rue Saint-Leu, 80039 Amiens, France
3Department of Engineering, Faculty of Engineering and Science, University of Agder, 4898 Grimstad, Norway

Received 4 September 2012; Accepted 4 October 2012

Academic Editor: Peng Shi

Copyright © 2013 S. Bououden 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.


Adaptive fuzzy sliding mode controller for a class of uncertain nonlinear systems is proposed in this paper. The unknown system dynamics and upper bounds of the minimum approximation errors are adaptively updated with stabilizing adaptive laws. The closed-loop system driven by the proposed controllers is shown to be stable with all the adaptation parameters being bounded. The performance and stability of the proposed control system are achieved analytically using the Lyapunov stability theory. Simulations show that the proposed controller performs well and exhibits good performance.