Design adaptive sliding mode controller by type-2 fuzzy modeling

In this paper, an adaptive type-2 fuzzy sliding mode control algorithm is proposed for a class of continuous time unknown nonlinear systems. the proposed adaptive type -2 fuzzy logic controller takes advantages of every three method sliding mode control, fuzzy control and proportional integral (PI) control. The stability analysis for the proposed control algorithm is provided. An inverted pendulum with variation of pole characteristics, and are adopted to illustrate the validity of the proposed method. The simulation results show that the adaptive type-2 fuzzy sliding mode controller achieves the best tracking performance in comparison with the adaptive type-1 fuzzy sliding mode controller.