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Fuzzy indirect adaptive sliding mode tracking control for a class of nonlinear similar composite large-scale systems

Based on fuzzy approximation principle, a new fuzzy controller is designed for a class of nonlinear similar composite large-scale systems with unknown dynamics. It uses the mode transformation function to realize the switching between the fuzzy indirect adaptive controller and fuzzy sliding mode controller, which keeps the state of the system changing in a close bounded set. It also makes the closed loop system stable by using Lyapunov method and keeps the tracking error convergence to zero. Through an adaptive process of a parameter online, the affection of interconnected terms, which satisfy certain general restrict conditions, is attenuated. Simultaneously, it can be proved that making good use of the characteristic of the systems such as "similarity", "symmetry" to study the tracking problem will simplify the complex problem.