Fuzzy Sliding Mode Control Based on Global Sliding Mode for MIMO Nonlinear System

A global sliding mode controller for a class of multiple input and multiple output(MIMO) nonlinear system was designed by applying global sliding mode control and selecting exponential fast terminal sliding mode reaching law in this paper.The parameter uncertainties and disturbance bound were estimated on-line by introdcing the fuzzy basis function network,in the design scheme the reaching phase of sliding mode was eliminated.The tracking error would stay on the sliding mode surface and tend to zero in the finite time.The sysytm was not affected by the uncertain and disturbance,which would ensure that global robustness and stability.The simulation result of some second order MIMO nonlinear system showed that this control strategy was feasible and effect.