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Input–Output Finite-Time Sliding-Mode Control for T–S Fuzzy Systems With Application

This article addresses the issue of input–output finite-time stability (IO-FTS) for nonlinear systems by employing sliding-mode control (SMC) methodology. Many practical systems subject to complex factors, such as the single-link robot arm model (SLRAM), can be characterized as nonlinear systems. Our attention is focused on designing a fuzzy-model-based finite-time SMC law to attenuate the influences of uncertainty, nonlinear term, and external disturbance during the finite-time region. First, a novel integral sliding-mode surface is proposed based on the Takagi–Sugeno fuzzy rule. Then, by using the key point of Lyapunov function theory, an appropriate fuzzy SMC law is designed to make sure that the signal variables can arrive at a domain within the assigned fixed-time level. Moreover, some new IO-FTS criteria are constructed for the resulting sliding dynamics over the whole finite-time level, including reaching phase and sliding motion phase. Via the SLRAM, we demonstrate the effectiveness of the proposed SMC approach.