Model-Free Continuous Fuzzy Terminal Sliding Mode Control for Second-Order Nonlinear Systems

Abstract

This paper proposes a continuous fuzzy terminal sliding mode control (C-F-TSMC) for model-free second-order nonlinear systems. This controller inherited the advantages of three techniques: fuzzy logic system, terminal sliding mode and super-twisting algorithm (STA). First, a T-S fuzzy logic system is used to model the unknown second-order nonlinear systems. Then, a terminal sliding mode con-troller based on STA is implemented to achieve the highest tracking performance. The proposed controller provides the superior control properties such as robust-ness, high tracking accuracy, finite-time convergence, and less chattering phe-nomenon. Moreover, it is designed without the system model. The theory analy-sis is accomplished to prove the stability and finite-time convergence of the sys-tem. The proposed C-F-TSMC is applied to a serial rigid link robot manipulator. Simulation results are presented to validate the analysis