Adaptive fuzzy controller for nonlinear uncertain systems

In this paper, an adaptive fuzzy controller for single-input single-output (SISO) nonlinear systems with higher-order and unmatched uncertainties is provided. The design is based on the principle of sliding mode control, input-output linearizing controller, and the approximation capability of adaptive fuzzy systems. Finally, the suggested controller is applied to a flexible joint robot. Simulation results indicate its efficiency.