|A Finite-time Adaptive Fuzzy Terminal Sliding Mode Control for Uncertain Nonlinear Systems
Ehsan Rouhani and Abbas Erfanian*
International Journal of Control, Automation, and Systems, vol. 16, no. 4, pp.1938-1950, 2018
Abstract : "In this study, a new adaptive fuzzy terminal sliding mode (AFTSM) control is presented for control
of uncertain nonlinear systems with disturbances. The proposed controller incorporates terminal-based gradient
descent (GD) algorithm and fuzzy logic system into a continuous nonsingular terminal sliding mode. The nonlinear
dynamics of the system to be controlled are approximated with the fuzzy logic system and an adaptive law based
on the terminal-based GD is proposed for online updating the parameters. The most advantage of the proposed
terminal-based GD is the finite-time convergence compared to the conventional GD learning algorithm. It is proved
that under the proposed terminal sliding mode and updating law, the tracking and approximation errors converge
to the neighbourhood of zero in a very short time. Simulation results are given to illustrate the performance of the
proposed AFTSM control through the control of a second-order system and a two-link rigid robotic manipulator.
The simulation results show that faster and high-precision tracking performance is obtained compared with the
conventional continuous terminal sliding mode control methods. Moreover, the proposed terminal sliding mode is
applied to control of joint movement generated by functional electrical stimulation. The experiment results verify
that accurate control of movement is obtained using the proposed control scheme."
"Adaptive control, finite-time convergence, functional electrical stimulation, terminal sliding mode, uncertain systems."