Stable Backstepping Sliding Mode Control Based on ANFIS2 for a Class of Nonlinear Systems

This paper presents an intelligent backstepping sliding mode control for a class of nonlinear systems. a new adaptive neuro fuzzy inference system (anfis), based on type-2 fuzzy sets (called anfis2) is used to approximate the conventional sliding mode control law. the proposed anfis2 method does not require prior information about the system; it also identifies the system's dynamics, as well as the estimated dynamics, used in the sliding mode controller. moreover, the proposed anfis2 sliding mode control system - by tracking the control system’s structure in the presence of uncertainty in a class of nonlinear systems - approximates the system’s mathematical model momentarily. in order to compensate the control signal and to offer a better performance, a combination of a type-2 fuzzy system, backstepping method and sliding mode control is proposed. the backstepping method is used to improve the final threshold stability; and the sliding mode control is used to obtain robust response to uncertainty. the simulation results show that the proposed anfis2-based sliding mode control has better performance than the anfis-based one.