Fuzzy sliding mode controller design for uncertain time-delayed systems with nonlinear input

In this paper, the principle of sliding mode control is used as a basis to develop an adaptive fuzzy controller for uncertain dynamic time-delayed systems with series nonlinearities. The control method provides a simple way to achieve asymptotic stability of the uncertain time-delayed system. Other attractive features of the method include a minimal realization of the adaptive fuzzy controller and insensitivity to the uncertainties and disturbances. In addition, the method is capable of handling the chattering problem inherent to the sliding mode control easily and effectively. Simulation results are presented to demonstrate these features of the method. Key-Words: adaptive fuzzy control, sliding mode control, series nonlinearity, time-delayed system