Document Type : Research Paper
Faculty of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood, Iran
This article presents a new robust adaptive sliding mode controller for a class of uncertain nonlinear systems whereas only the system output is measurable. Firstly, a robust adaptive fuzzy observer is designed for the system in order to estimate its state variables. The robust asymptotic convergence of the proposed observer is proven by Lyapunov direct method. Then based on the observation states, a robust adaptive sliding mode controller is suggested such that the closed loop system to be asymptotically stable. Robust asymptotic stability of the overall system suggested by the controller is also confirmed based on Lyapunov theory. Simulation results illustrate practicality and effectiveness of the proposed technique for controlling uncertain nonlinear systems.