Journal Pre-proof

Neural-Network based Adaptive Sliding Mode Control for Takagi-Sugeno Fuzzy Systems

Xingjian Sun, Lei Zhang and Juping Gu

PII: S0020-0255(23)00129-9
DOI: https://doi.org/10.1016/j.ins.2022.12.118
Reference: INS 18647

To appear in: Information Sciences

Received date: 15 April 2022

Revised date: 29 September 2022
Accepted date: 18 December 2022

Please cite this article as: X. Sun, L. Zhang and J. Gu, Neural-Network based Adaptive Sliding Mode Control for Takagi-Sugeno Fuzzy Systems, Information
Sciences, doi: https://doi.org/10.1016/j.ins.2022.12.118.

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© 2023 Published by Elsevier.

 Procedia
Computer
Procedia Computer Science 00 (2023) 1–14 Science

Neural-Network based Adaptive Sliding Mode Control for

Takagi-Sugeno Fuzzy Systems
Xingjian Suna,∗, Lei Zhanga,∗, Juping Gua
a School of Electrical Engineering, Nantong University, Nantong 226019, China

Abstract
In the present study, the adaptive sliding mode control (ASMC) strategy is investigated for a class of complex nonlinear systems
with matched and unknown nonlinearities and external disturbances. The nonlinearities and external disturbances are approached
by a Gaussian radial basic neural network. A Takagi-Sugeno (T-S) fuzzy model based integral switching function is introduced to
solve the ASMC problem, which eliminates the constrain that input gains required to share a common matrix in all fuzzy rules.
Then, the switching control term is represented as a proportional integral (PI) control format to reduced the chattering phenomenon.
Based on the Lyapunov theory, a set of existence conditions of the sliding mode controller are given such that the stability of the
control systems can be guaranteed. Finally, a experimental simulation is utilize to verify the effectiveness of the proposed sliding
mode control (SMC) strategy.

c 2011 Published by Elsevier Ltd.

Keywords: T-S fuzzy system, sliding mode control, neural-network

1. Introduction

With the rapid development of modern science and technology, the nonlinearity, uncertainty and coupling of
practical industrial control systems are getting more complex. The conventional control technology of nonlinear
systems is difficult to achieve the desired control objectives [1]. Since T-S fuzzy model [2] was put forward in 1965,
there are considerable attentions have been paid by researchers for its excellent ability to represent complex nonlinear
systems [3? –7], and many control problems of complex nonlinear systems have been solved by utilizing T-S fuzzy
model, such as robust control [8], predictive control [9], observer design [10] et al.. A faculative nonlinear systems
can be represented by the combination of linear subsystems based on T-S fuzzy model in connection with fuzzy
rules. As a consequence, the control problem of nonlinear systems can be solved by using the control theory of
linear systems, which simplifying the analysis and control process of nonlinear systems. In reference [11], a fuzzy
control method was proposed to stabilize a class of T-S fuzzy systems based on an event-triggered mechanism. For
the problem of robust control in nonlinear stochastic descriptor Markovian jump systems, the authors in [12] designed
a sliding mode controller, such that the descriptor Markovian jump systems can be analyzed through simple linear
matrix inequalities(LMIs). Moreover, the authors in [13] verified that the T-S fuzzy systems can be described and
controlled by the artificial intelligence based Evolved Bat Algorithm (EBA) controller with machine learning matched

∗ Correspondingauthor
Email addresses: xingjiansun@ntu.edu.cn (Xingjian Sun), nttzzl@ntu.edu.cn (Lei Zhang), gu.jp@ntu.edu.cn (Juping Gu)

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 / Procedia Computer Science 00 (2023) 1–14 2

membership functions. In the last decade, considerable excellent results on T-S fuzzy control methods also have been
put forward and widely used in practical engineering.
Moreover, the SMC has become a very famous robust control strategy in recent years for its fast response charac-
teristic and strong robustness. By far, the SMC method for complex nonlinear systems have been proposed in large
amounts. Especially in the recent years, the control problem of complex nonlinear systems can be solved by SMC
method combined with T-S fuzzy model. The robust tracking control problem for a nonlinear dynamic systems was
studied in [14] based on T-S fuzzy model approach and SMC technique. In [15], the fault detection and isolation prob-
lem was addressed by using a sliding mode observer for a class of uncertain T-S fuzzy systems. In [16], the ASMC
approach in [14] was further used to ensure the stability for a half-vehicle active suspension system with unknown
actuator nonlinearity. And then, a new control law along with an Unscented Kalman Filter (UKF) was proposed for
robotic manipulators in [17] based on the principles of the non-singular terminal SMC. For the different input matrices
in fuzzy rules, the authors in [18] put forward dynamic SMC schemes for the regular nonlinear systems. By quantify-
ing the system states, the SMC scheme was deisgned for the nonlinear systems in [19], where the uncertainties with
both matched and mismatched characteristics were taken into account. The authors in [20] offered a new exponential
stabilization criterion for a class of T-S fuzzy systems subject to unmeasurable premise variables, and applied this
method to the truck-trailer model. A novel dynamic sliding surface approach was proposed in [21] to deal with the
problem of observer based SMC for T-S fuzzy systems with unknown external disturbance. It is worth noted that
the above results are all published according to the conventional SMC theories and methods, there are two phase in
conventional SMC, reaching phase and sliding phase. In order to simplify the motion process of SMC, the integral
SMC technique has been researched extensively in recent years. On the basis of integral SMC, the reaching phase
in sliding mode motion is eliminated. Thus, the control system can enter sliding mode motion at the beginning of
control action, and the robustness of control systems can be ensured. Then, the integral sliding mode controller for
the semi-Markovian switching T-S fuzzy systems was designed based on a new integral sliding surface in [22]. For
the T-S fuzzy systems, the authors in [23] investigated the problem of periodic event-triggered SMC. The situation
of unmeasurable premise variables was considered in reference [24] based on the H∞ control strategy under integral
switching function proposed in [25].
Although the SMC method has been reflected carefully and considerable chievements have been published, there
are still many significant problems need to be solved. Specifically, there are mainly several points as follows. On the
one hand, most of the researches require the systems to share the same input matrix in all the sub-models [16], whereas
it can not be satisfied in many physical plants. In references [26–30], several solutions were proposed to allow the
input matrices to be different, but very hard to carry out due to its high complexity. On the other hand, the switching
term in SMC is the main reason leading to chattering phenomenon of SMC systems [31? ? –33], which reduces
the precision of the control systems. In [34], the saturation function was introduced to take the place of switching
term, but the robustness of the control systems was also reduced. In addition, some approaches of reducing system
chattering were put forward, however, the chattering phenomenon still exists. In view of the above problems, the
researches relating both different input matrix and chattering reduced have not been reported as far as known, which
is the motivation of this paper.
In this article, we focus on the investigation of ASMC for a class of T-S fuzzy systems based on the neural-network
technique. The constrains problem of input gains is relaxed through a novel integral switching function. The uncer-
tainties with unknown upper bounds is approximated through the radial basis function neural-network (RBFNN) [35]
to reduce the gains of switching term in input signal. Thus, the chattering of control systems is reduced. Furthermore,
the PI-fuzzy controller [36, 37] comprising Takagi–Sugeno and Mamdani fuzzy systems is introduced to approxi-
mated the sign function in switching term, such that the chattering can be reduced again. Moreover, the approximate
errors can be expressed by taking advantage of adaptive control technique. At this point, the above two problems can
be solved. We summarize the main contributions as follows.
1) A novel integral sliding surface is introduced to handle the different input matrices. Such that, the constraint
of identical input matrices in different fuzzy rules have been eliminated. And then, the sufficient conditions for the
sliding mode controller are also provided. Thus, the flexibility of sliding mode controller design is improved.
2) The RBFNN and PI control methods are introduced to approximate the unknown uncertainties and switching
term in control input, respectively, and the approximate errors are expressed by adaptive control technique. Thus, the
system chattering has been greatly reduced. The reachability of the RBFNN-based sliding mode controller is proved.
The rest of this paper is structured as follows. The description of the nonlinear systems is given in Section 2. The
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 / Procedia Computer Science 00 (2023) 1–14 3

results of stability analysis and controller design are developed in Section 3. And, the validity of the proposed theories
is verified by an example of an inverted pendulum system in Section 4. Then, a conclusion is given in Section 5.
Notation. The notation used throughout this paper is quite standard. Rn represents the n-dimensional Euclidean
space, Rn×m represents the set of all n × m real matrices. The superscripts −1 and T denote matrix inverse and matrix
transposition, respectively. k · k denotes the Euclidean norm of a vector or the induced norm of a matrix. The notation
P > 0(P ≥ 0) implies that P is a real symmetric and positive definite(semi-positive definite) matrix. The matrix I is
defined as the identity matrix with suitable dimensions. The matrices, if their dimensions are not explicitly stated, are
assumed to be compatible for algebraic operations.

2. Problem formulation and preliminaries

In the sense of broadly, the dynamic equation for a class of nonlinear systems can be described as the following
differential equation
ẋ(t) = f1 (x(t), t) + f2 (x(t), t)(u(t) + f (x(t), t)) (1)
where f1 (x(t), t) and f2 (x(t), t) are the nonlinear functions respected to system state vector x(t), f (x(t), t) denotes the
matched and unknown system uncertainty or external disturbance. In the following part, the functions or variables ∗(t)
(or ∗(x(t), t)) are abbreviated to ∗t (or ∗ xt ) for convenience. The nonlinear dynamic equation (1) can be approximated
to a T-S fuzzy model with the following format
Rule i: IF η1t is Mi1 and, · · · , and η pt is Mip , THEN
ẋt = Ai xt + Bi (ut + f xt ) (2)
where xt ∈ Rn is the n dimensional state vector, ut ∈ Rm is the m dimensional control input. f xt ∈ Rm is a unknown
and matched nonlinear vector function, Ai ∈ Rn×n and Bi ∈ Rn×m (i = 1, 2, · · · , r) are the known system matrices
appropriate dimensions, r is the number of fuzzy rules. Mi j ( j = 1, 2, · · · , p) is the fuzzy set in fuzzy rule i, and η jt is
the premise variable of Mi j , p is the number of premise variables. The membership functions are given by
µηi (ηt )
θi (ηt ) = Pr ,
j=1 µη j (ηt )
p
Y (3)
µηi (ηt ) = µi j (η jt )
j=1
h i
where ηt = η1t · · · η pt , the grade of membership of η jt in fuzzy set Mi j is expressed as µi j (η jt ) . Obviously, we have
µi j (η jt ) ≥ 0, µηi (ηt ) ≥ 0, rj=1 µη j (ηt ) > 0, θi (ηt ) ≥ 0 and ri=1 θi (ηt ) = 1. In what follows, we rewritten θi (ηt ) as θi for
P P
simplicity. By de-fuzzing, the overall T-S fuzzy system is shown as
r
X
ẋt = θi [Ai xt + Bi (ut + f xt )] (4)
i=1

It is worth noting that, for the research on SMC method, almost all the published results such as [19, 38] required
the same input matrices B1 = B2 = · · · = Br = B, which reduced the applicability of SMC method. The others
considered the inverse matrix of the matrix (G ri=1 θi Bi ) with parametric nonlinearities [39, 40], which increased the
P
complexity of calculation. In addition, there are a few results applied the dynamic SMC methods to a class of T-S
fuzzy systems [41], which reduced the robustness to matched disturbances and uncertainty f xt . In the follow part, we
introduce a novel sliding surface function [42] to handle the different input matrices Bi , B j (i , j) and the matched
disturbances and uncertainty f xt . Before analyzing the stability of system (4), the following lemmas are given.
Lemma 1. For a set of matrices F̄i satisfying F̄i Bi is nonsingular, the matrices Fi can be found satisfying T = Fi Bi .
Proof. Since F̄i Bi are nonsingular, matrices (F̄i Bi )−1 exist. Let Fi = (F̄i Bi )−1 F̄i , it can be seen that Fi Bi = (F̄i Bi )−1 F̄i Bi =
Im (for all i ∈ 1, 2, · · · , n). Then, we have T = Im = Fi Bi . The proof is completed.
Rt
Lemma 2. [43, 44] For a uniformly continuous function ft , equation lim ft = 0 is true if lim 0 fτ dτ is a finite value.
t→∞ t→∞
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 / Procedia Computer Science 00 (2023) 1–14 4

3. Controller design and stability analysis

In the following part, the stability is analyzed and the ASMC strategy is designed to guarantee the reachability
of the predefined sliding surface for the state trajectories within a finite time. Fig.1 shows the structure of the neural
network ASMC. The nonlinear systems is firstly described as a T-S fuzzy model. Secondly, by utilizing the adaptive
update law respected to the system states and the sliding surface, the neural network parameters can be obtained.
Then, the neural network ASMC scheme is designed. Finally, recalling the adaptive update law, the switching term in
ASMC is replaced by PI control method and the final ASMC can stabilize the nonlinear systems.

Fuzzy De-
Nonlinear rules T-S fuzzy fuzzing T-S fuzzy
systems model systems

f ( x(t ), t )
Neural
Update law network
system

fˆ ( x(t ), t )

ì sgn( st ) PI control Sliding mode

í method controller
îU PI sgn( st )

Figure 1. Framework of the neural network ASMC for nonlinear systems.

3.1. Stability analysis

In this part, we introduced a fuzzy model-based sliding surface functions for system (4) with different input
matrices Bi , B j (i , j) and obtained the sufficient criteria for the stability of sliding mode dynamics. The integral
switching function is given as
Rule i: IF η1t is Mi1 and, · · · , and η pt is Mip , THEN
Z t
st = F i xt − F i (Ai xτ + Bi Ki xτ )dτ (5)
0

where Ki ∈ Rm×n is the controller gain that needs to be designed, Fi ∈ Rm×n is a known matrix satisfying kFi Bi k , 0.
Then, we can calculate the derivative of st in rule i as follows.
ṡt =Fi [Ai xt + Bi (ut + f xt )] − Fi (Ai + Bi Ki )xt
=Fi Bi (ut + f xt − Ki xt ) (6)
It yields that the equivalent control uieqt in rule i is
uieqt =Ki xt − f xt (7)
Easily, we have the following global integral sliding surface functions and its derivative and equivalent controller
X r r
X Z t
st = θi Fi xt − θi Fi (Ai + Bi Ki )xτ dτ (8)
i=1 i=1 0
r
X
ṡt = θi Fi Bi (ut + f xt − Ki xt ) (9)
i=1
Xr
ueqt = θi Ki xt − f xt (10)
i=1
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 / Procedia Computer Science 00 (2023) 1–14 5

Substituting (10) into system (4), one has the following sliding mode dynamic
r X
X r
ẋt = θi θ j (Ai + Bi K j )xt (11)
i=1 j=1

There are some theorems with inequality condition to analyze the stability of system (11).
Theorem 1. Consider the sliding mode dynamic (11), if the positive definite matrix X and matrices K̄ j exist, such that
the following inequalities hold for all i, j ∈ {1, 2, · · · , r}

Γii < 0 (12)

Γi j < 0, i < j (13)

the sliding mode dynamic (11) is said to be quadratically stable, where Γi j = Ai X + X T ATi + Bi K̄ j + K̄ Tj BTi . Moreover,
the control gain K j in sliding surface function (8) can be chosen as

K j = K̄ j X −1 (14)

Proof. First, construct the following Lyapunov function for sliding mode dynamic (11)

V1t = xtT Pxt (15)

where P is an n-dimensional symmetric positive definite matrix to be solved. Taking the derivative of (15) yields

V̇1t =xtT P ẋt + ẋt PT xtT

X r X r
=2 θi θ j xtT P(Ai + Bi K j )xt
i=1 j=1
r X
X r
= θi θ j zTt (Ai X + X T ATi + Bi K̄ j + K̄ Tj BTi )zt
i=1 j=1
r
X
= θi2 zTt (Ai X + X T ATi + Bi K̄i + K̄iT BTi )zt
i=1
r
X
+ θi θ j zTt (Ai X + X T ATi + A j X + X T ATj
i< j

+ Bi K̄ j + K̄ Tj BTi + B j K̄i + K̄iT BTj )zt (16)

where zt = PT xt and X = P−1 . From (12)–(13), it follows V̇1t < 0. In addition, inequalities (12)–(13) also mean that a
sufficiently small δ can be found such that

Ai X + X T ATi + Bi K̄ j + K̄ Tj BTi + δI < 0 (17)

It yields that
V̇1t ≤ −δkPxt k2 ≤ −δλmin (P)kxt k2 (18)
That is to say, the sliding mode dynamic (11) is quadratically stable. The proof is completed.

3.2. Controller design

In the following part, a Gaussian RBFNN is employed to deal with f xt for its powerful function approximation
ability. The schematic of the RBFNN structure is shown in Fig 2. The function f xt is approximated by the following
linearly parameterized RBFNN
fˆxt = Ŵ Tf Φ(xt ) (19)
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Hidden nodes
Inputs
Outputs
x1
y1
x2
ym
xn

Figure 2. Schematic of the RBFNN structure.

where Ŵ f = [Ŵ f 1 Ŵ f 2 · · · Ŵ f m ] is a matrix of the neural-network weights with Ŵ Tfl = [ŵ1f l ŵ2f l · · · ŵNfl ] (l =
1, 2, · · · , m, N is the number of hidden nodes, Φ(xt ) = [φ1 (xt ) φ2 (xt ) · · · φN (xt )]T is a regression functions vector.
The Gaussian RBF φk (xt ) (k = 1, 2, · · · , N) is given as

 kxt − ak k2 

φk (xt ) = exp −  (20)
b2k

in which ak and bk > 0 denote the centres and widths of the Gaussian RBFs, respectively. The weight W ∗f is given by
!
W ∗f ˆ
= arg min sup k f xt − f xt k (21)
Ŵ f xt

Then, we have the estimator W ∗T

f Φ(xt ) such that

f xt = W ∗T
f Φ(xt ) + ε(xt )

Ŵ f = W ∗f − W̃ f (22)
Ŵ f l = W ∗f l − W̃ f l , (l = 1, 2, · · · m)

where ε(xt ) and W̃ f are the approximation error of f xt and W ∗f , respectively, in which ε(xt ) is bounded with kε(xt )k ≤ α
(α is a unknown real number and α > 0).
Nextly, the SMC law will be designed to drive the system states of T-S fuzzy system (4) onto the predefined sliding
surface and then guarantee that the state trajectories of the closed-loop system can be remained in this sliding surface.
For the unknown parameter α, a new constant α̂ is employed to estimate it, and the estimation error is denoted as
α̃ = α − α̂. Then, the neural network based ASMC scheme is as follows.
r
X
ut = θi Ki xt − Ŵ Tf Φ(xt ) − (α̂ + ξ)sgn(st ) (23)
i=1

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 / Procedia Computer Science 00 (2023) 1–14 7

where matrix Ki is obtained in Theorem 1, ξ is a small constant, the parameters update laws are designed as
˙ = λ s Φ(x ), (l = 1, 2, · · · , m)
Ŵ (24)
fl 1 lt t
˙ ˙ ˙ ˙
h i
Ŵ f = Ŵ f1 Ŵ f2 · · · Ŵ fm (25)
α̂˙ = λ2 kst k (26)
in which λ1 and λ2 are positive constants, sTt = [s1t s2t · · · smt ].
Remark 1. In the traditional sliding mode control, the controller is with the following form ut = ri=1 θi Ki xt − (ξ̌ +
P
M|| fxt || )sgn(st ), where M|| fxt || is the maximum of || f xt ||. The switching control term (α̌ + M|| fxt || )sgn(st ) is the direct cause
of system chattering, and the gain of switching item is directly proportional to the amplitude. When the RBFNN is
introduced to estimated the nonlinear function f xt , the maximum of estimation error α̂ will be much smaller than the
maximum of || f xt || defined by M|| fxt || . Thus, the amplitude of the chattering can be reduced.
Theorem 2. For the given system (4), if there exist a set of matrices Ki such that the conditions (12)–(13) in Theorem
1 hold, then the system sates can converge to the sliding surface (8) under the neural network based ASMC scheme
(23) within finite time.
Proof. First, we construct the Lyapunov function as
m
1 T 1 X T 1 T
V2t = st st + W̃l f W̃ f l + α̃ α̃ (27)
2 2λ1 l=1 2λ2

Taking the derivative of the Lyapunov function(27), one has

m
1 X T ˙ 1
V̇2t = sTt ṡt + W̃ f l W̃ f l + α̃T α̃˙ (28)
λ1 l=1 λ2

Considering the equation (9) and control scheme (23), we have

r
X
sTt ṡt = sTt θi Fi Bi [ f xt − Ŵ Tf Φ(xt ) − (α̂ + ξ)sgn(st )] (29)
i=1

Without loss of generality, the matrices Fi are chosen by Lemma 1, then (29) yields
sTt ṡt =sTt [ f xt − Ŵ Tf Φ(xt ) − (α̂ + ξ)sgn(st )]
≤sTt (W ∗T T T
f − Ŵ f )Φ(xt ) − ξkst k + st (ε(xt ) − α̂sgn(st ))

≤sTt W̃ Tf Φ(xt ) + (α̃ − ξ)kst k (30)

On the basis of the update laws (24)–(26) and the fact that W̃ ˙ and α̃˙ = −α̂,
˙ = −Ŵ ˙ one has
fl fl
m m
1 X T ˙ 1 T˙ X
W̃ W̃ f l + α̃ α̃ = − W̃ Tfl slt Φ(xt ) − α̃T kst k
λ1 l=1 f l λ2 l=1
m
X
=− sl W̃ Tfl Φ(xt ) − α̃T kst k
l=1
= − sTt W̃ Tf Φ(xt ) − α̃T kst k (31)
Substituting (29)–(31) into (28), one can obtain that
√ 1
V̇2t ≤ −ξkst k ≤ − 2ξV2t2 (32)
It follows that there exist T ∗ > 0 satisfying sTt st < 0 (t > T ∗ ). Then, it can be ensure that the system states will be
driven onto the sliding surface under the neural network based ASMC scheme (23) within finite-time. The proof is
completed.
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 / Procedia Computer Science 00 (2023) 1–14 8

As we all known, the chattering problem is inevitable for the switching control term

u s = sgn(st ) (33)

in control scheme (23). In what follows, a PI control method is introduced to deal with the chattering problem. The
PI control is given as
uPI = β p1 z s1t + β p2 z s2t = β p ϕ(st ) = p(st |β p ) (34)
where z s1t = ż s2t = st , β p1 and β p2 are control gains to be designed, β p = [β p1 β p2 ] and ϕ(st ) = [zTs1t zTs2t ]T . The
resulting control scheme is as follows
 P r
T
 i=1 θi Ki xt − Ŵ f Φ(xt ) − (α̂ + ξ)sgn(st ), kst k > ψ




ut =  (35)

 r
θi Ki xt − Ŵ Tf Φ(xt ) − (α̂ + ξ)p(st |β p ), kst k ≤ ψ

 P


i=1

where ψ is denoted as a boundary layer. The parameter estimation β p is give by

!
β∗p = arg min sup kp(st |β p ) − u s k (36)
βp xt

and the error is β̃ p = β p − β∗p .

Theorem 3. For the given system (4) with the control input (35) under the update laws (24)–(26) and

β̇Tp = λ3 (α̂ + ξ)sTt ϕ(st ) (37)

where λ3 is a positive constants chosen by the designer, the system sates will converge to zero asymptotically.

Proof. Over the reaching phase, we have kst k > ψ. The Lyapunov function is structured in the following form.
1 T
V3t = V2t + β̃ β̃ p (38)
2λ3 p
The derivative of V3t is given as

V̇3t =sTt ε(xt ) − sTt (α̂ + ξ)β p ϕ(st ) − α̃T kst k + (α̂ + ξ)β̃Tp sTt ϕ(st )
≤ − sTt (α̂ + ξ)β p ϕ(st ) + sT (α̂ + ξ)β∗p ϕ(st ) − sTt (α̂ + ξ)β∗p ϕ(st )
+ (α̂ + ξ)β̃Tp sTt ϕ(st ) + αkst k − α̃T kst k
≤ − sTt (α̂ + ξ)sgn(st ) + αkst k − α̃T kst k
√ 1
= − ξkst k ≤ − 2ξV3t2 (39)

Obviously, the sliding surface can be reached under the controller (35), and 0 ≤ V3t ≤ V30 . Integrating both sides of
(39), one has Z t
1 1
V30 ≥ (V30 − V3t ) ≥ ksτ kdτ (40)
ξ ξ 0
From Lemma 2, we have st → 0 as t → ∞. Thus, all terms in V3t and update laws (24), (26) and (36) are bounded.
Over the sliding motion phase, kst k ≤ ψ, we select the Lyapunov function as V4t = 12 xtT Pxt > 0. Taking the
derivative of V4t as follows

V̇4t =xtT PĀxt + xtT P B̄( f xt − ŴΦ(xt )) − xtT P B̄(α̂ + ξ)p(st |β p )]

≤λmax (PĀ)kxt k2 + kP B̄W̃Φ(xt )kkxk + [(α̂ + α̃)kP B̄k − (α̂ + ξ)kP B̄p(st |β p )k]kxt k (41)

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 / Procedia Computer Science 00 (2023) 1–14 9

where Ā = ri=1 rj=1 θi θ j (Ai + Bi K j ), B̄ = ri=1 θi Bi and λm = λmax (PĀ) < 0. For the boundedness of xt and the other
P P P

terms in (41), we define that kP B̄W̃Φ(xt )k + (α̂ + α̃)kP B̄k − (α̂ + ξ)kP B̄p(st |β p )k ≤ C, then one can obtained that

V̇4t ≤ λm kxt k2 + Ckxt k (42)

Integrating both sides of (42), it yields

Z t Z t
1 2 C
(V4t + V40 ) ≥ kxτ k dτ + kxτ kdτ (43)
λm 0 λm 0
Rt
recalling that xt satisfies kst k ≤ φ, we have xt and V4t are bounded, thus 0 kxτ kdτ is bounded. From Lemma 2, we
have xt → 0 as t → 0, the system states are asymptotically converge to zero under the controller (35). The proof is
completed.

Remark 2. According the above analysis, it can be obtained cushy that the α̃T α̃ is bounded and lim α̂˙ = 0. Thus,
t→+∞
one has that (α − α̂)T (α − α̂) is bounded, it yields that α̂ is bounded. Then, there exist a time t1 > 0 and a sufficiently
small constant δ, such that |α̂ − 0| ≤ δ since
R p1t > t1 . ItRfollows that, for any times p1 > p2 > t1 , there exists sufficiently
˙ ≤ p1 δdt < δ(p2 − p1 ) = δ2 . According to the Cauchy criterion for
small constant δ2 = δ(p2 − p1 ), such that p |α̂|dt
2 p 2

convergence, it follows that α̂ converges with respect to t. Similar to the above analysis, Ŵ f l and β̂ p also converge.

4. Simulation Results
Example. In order to shown the advantage of the designed neural network ASMC law (35), we introduce the following
inverted pendulum system in Fig. 3.

mp

q (t ) L

u (t )
Mc

Figure 3. inverted pendulum system.

The following dynamical equation can be obtained

g sin(θt ) − cm p Lθ̇t2 sin(θ

2
t)
− c cos(θt )ut
θ̈t = 4L
(44)
3 − cm p L cos2 (θt )
where θt is the angular displacement, g is the acceleration of gravity, ut denotes the external force input, L is the length
of pendulum. The mass of pendulum and car are denoted by m p and Mc , respectively. The system parameters are given
9
 / Procedia Computer Science 00 (2023) 1–14 10
h i h
i
as g = 9.8 m/s2 , L = 1/2 m, m p = 2 kg, Mc = 30 kg, c = 1/(m p + Mc ). Choosing that xt = x1t x2t = θt θ̇t ,
and taking the external disturbance into account, the following T-S fuzzy model is obtained to approximated the
dynamical equation (44):
Rule i: IF g1 (xt ) is Ni1 , g2 (xt ) is Ni2 , THEN

ẋt = Ai xt + Bi (ut + f xt ) (45)

where
" # " #
0 1 0
A1 = A2 = , B1 = B3 =
h1min 0 h2min
" # " #
0 1 0
A3 = A4 = , B2 = B4 =
h1max 0 hmax
2
g− cm p Lx2t cos(x1t ) sin(x1t )
!
h1 (xt ) = 4L
3 − cm p L cos2 (x1t ) x1t
−c cos(x1t )
h2 (xt ) = 4L
3 − cm p L cos2 (x1t )
M11 = h1min = 11.3533, M12 = h1max = 16.464
M21 = h2min = −0.0492, M22 = h2max = −0.0192
h1max − h1 (xt )
µ11 (h1 (xt )) = µ12 (h1 (xt )) =
h1max − h1min
µ13 (h1 (xt )) = µ14 (h1 (xt )) = 1 − µ11 (h1 (xt ))
h2max − h2 (xt )
µ21 (h1 (xt )) = µ23 (h1 (xt )) =
h2max − h2min
µ22 (h1 (xt )) = µ24 (h1 (xt )) = 1 − µ21 (h1 (xt ))

where the grades of membership µηi and the membership functions ηi (xt ) are defined as follows

µηi = µ1i (h1 (xt ))µ2i (h1 (xt )) (46)

µ1i (h1 (xt ))µ2i (h1 (xt ))
θi (xt ) = P4 (47)
j=1 µ1 j (h1 (xt ))µ2 j (h1 (xt ))

Then, one has the following T-S fuzzy system

4
X
ẋt = θi (xt )[Ai xt + Bi (ut + f xt )] (48)
i=1

The external disturbance f xt is assumed as follows

f xt = 0.2x1t + 0.2x2t (49)

Through the Theorem 1, one can complete the control gains from the LMIs (12)-(13) as follows

K1 = [820.0909 155.2637], K2 = [160.8529 294.6508]

K3 = [989.2745 162.7097], K4 = [1698.7059 290.8810] (50)

Given the other parameters λ1 = 0.1, λ2 = 0.15, λ3 = 0.2, ξ = 0.01, ψ = 0.2, and the initial conditions x0 = [0.8 −1].
Assumed that the RFBNN is with 1 hidden layer and 21 hidden nodes, the initial value of neural network weights
is given as Ŵ f 1 = [ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ], the centres and
widths of Gaussian RBFs are defined by ak = k−11 10 and bk = 15, respectively, and the update parameter is select
10
 / Procedia Computer Science 00 (2023) 1–14 11

1
900

0.5 800
X 1.36133
Y 0.00340773 700
0
600
Position tracking

-0.5

Control input
500

400
-1
300
-1.5
200

-2 100

0
-2.5
0 2 4 6 8 10 -100
time(s) 0 2 4 6 8 10
time(s)

Figure 4. State responses of x(t) under control law designed in this

Figure 5. Control input u(t) in (35).
paper.

0.5

X 3.00025
Position tracking

Y -0.00167198
Position tracking

-0.5

-1

-1.5
0 2 4 6 8 10 WLPHV
time(s)

Figure 6. State responses of x(t) under control law (23). Figure 7. State responses of x(t) in reference [41].

0.2 4

0.15 3.5

0.1 3
Adaptive parameters

0.05 2.5

0 2

-0.05 10-4
1.5
10
-0.1 1
5
-0.15 0.5
0

-0.2 0
-5
9 9.5 10
-0.25 -0.5
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
time (s) time(s)

Figure 8. Estimations of neural network weights in Ŵ Tf1 . Figure 9. Estimations of adaptive parameters α̂, β p1 and β p2 .

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 / Procedia Computer Science 00 (2023) 1–14 12

1 0.8
0.1

0.6
0.5 0

0.4
Position tracking

Position tracking
0 -0.1

0.2 1 1.5 2 2.5

-0.5
0
0.2
-1
0 -0.2

-1.5
-0.2 -0.4

-2 -0.6
0.5 1 1.5 2

-2.5 -0.8
0 2 4 6 8 10 0 2 4 6 8 10
time(s) time(s)

Figure 10. State responses of x(t) under different initial conditions. Figure 11. State responses of x(t) under different initial conditions.

as λ1 = 0.1. The initial values of adaptive parameters are give as α̂ = 0, β p1 = 0 and β p2 = 0, and the update
parameters are selected as λ2 = 0.15, λ3 = 0.2. According to the ˙
 adaptive
k−11 2
 update laws Ŵ f 1 = λ1 s1t Φ(xt ) with
||x − ||
Φ(xt ) = [ φ1 (xt ) φ2 (xt ) · · · φ21 (xt ) ]T in which φk (xt ) = exp − t 15102 , α̂˙ = 0.15kst k and β̇Tp = [β̇ p1 β̇ p2 ]T =
0.2(α̂ + 0.01)sTt ϕ(st ), we have the following ASMC scheme (51)
4 (
X sgn(st ) ||st || > 0.2
u(t) = θi Ki xt − Ŵ Tf Φ(xt ) − (α̂ + 0.01) × (51)
p(st |β p ) ||st || ≤ 0.2
i=1

The simulation results are shown in Figs.4–9. The estimations of neural network weights Ŵ f 1 and the adaptive
parameters α̂, β p1 , β p2 are plot in Figs.8-9, which shown the convergence of adaptive control parameters. The state
trajectories of closed-loop system under controller (35) are shown in Fig.4. It is obviously that the system states
are stable in less than 1.5 seconds under controller (35) with the control gains (50), which shown the validity of the
proposed sliding mode controller design method. The control signal of (35) is drawn in Fig.5. Under the control law
(23) with switching term rather than PI control, the states trajectories are drawn in Fig.6. The states trajectories
under the SMC scheme with switching term in reference [41] are shown in Fig.7. Obviously, the system performance
under the SMC scheme in (35) with PI control p(st |β p ) is better than ones under the controllers in (23) and reference
[41] with switching term sign(s) or |s|s .
In addition, under the different initial condition x(0) = [0.8 − 1], x(0) = [−0.5 0.5], x(0) = [0.2 1] and the same
external disturbance f1xt = 0.2x1t + 0.2x2t , the system state trajectories are plotted in Figure 9, which shown that the
system states are stable through the SMC scheme (35) designed in this paper under different initial conditions. Under
15 2
the different disturbance inputs f1xt = 0.2x1t + 0.2x2t , f2xt = 50e−t (x1t + x2t ), f3xt = (t+1) 2 (sin(x1t ) + x2t ) and the same

initial condition x(0) = [0.2 1], the system state trajectories are plotted in Figure 10, which shown that the system
states are stable through the SMC scheme (35) designed in this paper under different disturbance inputs. Thus, the
effectiveness of SMC strategy proposed in this paper can be demonstrated.
Remark 3. Noting that, the input matrices Bi are not equal in different sub-models. The SMC methods proposed in
reference [19] cannot be apply to stabilize this example. Moreover, the dynamic integral SMC method proposed in
references [28, 29] requires a set of extra solutions for the matrices Fi and Gi . Compared with the above methods,
the SMC method proposed in this paper can not only deal with the stability problem of system (48) but also need not
to obtain the solution of some extra unknown matrices, and the system chattering phenomenon under SMC can be
effectively avoided.

5. Conclusion
In this paper, the SMC strategy has been proposed for the nonlinear systems according to neural network technique
and adaptive method. On the basis of model based switching function, the constraint that input gains share a common
12
 / Procedia Computer Science 00 (2023) 1–14 13

matrix in all fuzzy rules was relaxed. The RBFNN and PI control technique were introduced to approximation the
unknown uncertainties and switching term in SMC, respectively, such that, the chattering phenomenon was effectively
suppressed. The closed-loop system can be stabilized under the proposed control strategy. And an example was given
to verify the interests. In the future, we will focus on the research on optimization SMC problem with RL algorithm
for T-S fuzzy systems.

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14
Declaration of interests

☒ The authors declare that they have no known competing financial interests or personal relationships
that could have appeared to influence the work reported in this paper.

☐ The authors declare the following financial interests/personal relationships which may be considered
as potential competing interests:
CRediT author statement

Xingjian Sun: Conceptualization, Methodology, Software, Formal analysis, Data Curation, Writing -
Original Draft, Writing - Review & Editing.

Lei Zhang: Validation, Visualization.

Juping Gu: Investigation, Resources, Supervision, Project administration.