Design of an LMI-Based Fuzzy Fast Terminal Sliding Mode Control Approach for Uncertain MIMO Systems

Abstract

This paper proposes a linear matrix inequality (LMI)-based fuzzy fast terminal sliding mode control (FFTSM) approach for a multi-input multi-output (MIMO) system. This design aims to achieve the finite-time convergence of system trajectories to their desired values, while at the same time eliminating the chattering problem. Finite-time stability is proven using the Lyapunov theory and the control parameters are obtained using the LMI approach. The fuzzy logic approach is considered to fine tune the controller parameters and reduce the tracking error and control signal amplitude. The performance of the proposed approach is assessed using a simulation study of a direct current (DC) motor. The obtained results confirm the effectiveness of the proposed control design. Simplicity of the design, robustness, finite-time convergence, and chattering-free dynamics are among the features of the proposed approach.

Keywords

• fuzzy logic
• sliding mode control
• MIMO systems
• uncertainty
• LMI
• finite-time control