Robust output feedback adaptive sliding mode control for a class of uncertain nonlinear systems using robust adaptive fuzzy observer

This article presents a new robust adaptive sliding mode controller for a class of uncertain nonlinear systems whereas only the system output is measurable. Firstly, a robust adaptive fuzzy observer is designed for the system in order to estimate its state variables. The robust asymptotic convergence of the proposed observer is proven by Lyapunov direct method. Then based on the observation states, a robust adaptive sliding mode controller is suggested such that the closed loop system to be asymptotically stable. Robust asymptotic stability of the overall system suggested by the controller is also confirmed based on Lyapunov theory. Simulation results illustrate practicality and effectiveness of the proposed technique for controlling uncertain nonlinear systems.

Automated summary

The article introduces a new robust adaptive sliding mode controller for uncertain nonlinear systems with only the system output measurable. A robust adaptive fuzzy observer is designed to estimate the system state variables, and a robust adaptive sliding mode controller based on observation states is suggested for achieving stability of the closed-loop system. The proposed technique shows practicality and effectiveness in controlling uncertain nonlinear systems according to simulation results.