ADAPTIVE FUZZY SLIDING MODE CONTROL FOR UNCERTAIN NONLINEAR SYSTEMS AGAINST ACTUATOR FAULTS

In this paper, we propose to combine the fuzzy sliding mode control to tolerate actuator faults of unknown nonlinear systems subject to external disturbances. In particular, the idea of using adaptive fuzzy system to tolerate actuator faults of unknown nonlinear systems by approximating the system functions and the effects caused by actuator faults are avoided by the control structure. On the basis of Lyapunov stability theory its shown that the resulting adaptive closed loop system can be guaranteed to be asymptotically stable in the presence of faults on actuators and disturbances.