Input-Output Finite-Time Sliding-Mode Control for T-S Fuzzy Systems with Application

Wenhai Qi, Xu Yang, Choon Ki Ahn, Jinde Cao, Jun Cheng

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)


This article addresses the issue of input-output finite-time stability (IO-FTS) for nonlinear systems by employing sliding-mode control (SMC) methodology. Many practical systems subject to complex factors, such as the single-link robot arm model (SLRAM), can be characterized as nonlinear systems. Our attention is focused on designing a fuzzy-model-based finite-time SMC law to attenuate the influences of uncertainty, nonlinear term, and external disturbance during the finite-time region. First, a novel integral sliding-mode surface is proposed based on the Takagi-Sugeno fuzzy rule. Then, by using the key point of Lyapunov function theory, an appropriate fuzzy SMC law is designed to make sure that the signal variables can arrive at a domain within the assigned fixed-time level. Moreover, some new IO-FTS criteria are constructed for the resulting sliding dynamics over the whole finite-time level, including reaching phase and sliding motion phase. Via the SLRAM, we demonstrate the effectiveness of the proposed SMC approach.

Original languageEnglish
Article number8924635
Pages (from-to)5446-5455
Number of pages10
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number9
Publication statusPublished - 2021 Sept


  • Input-output finite-time stability (IO-FTS)
  • Lyapunov function
  • single-link robot arm model (SLRAM)

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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