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

22 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

Bibliographical note

Funding Information:
Manuscript received July 29, 2019; accepted November 18, 2019. Date of publication December 5, 2019; date of current version August 18, 2021. This work was supported in part by the National Natural Science Foundation of China under Grant 61703231, Grant 61773236, and Grant 61873331, in part by the Natural Science Foundation of Shandong under Grant ZR2017QF001 and Grant ZR2017MF063, in part by the Chinese Post-Doctoral Science Foundation under Grant 2018T110670, in part by the Taishan Scholar Project under Grant TSQN20161033, in part by the Excellent Experiment Project of Qufu Normal University under Grant jp201728, and in part by the National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. This article was recommended by Associate Editor S. S. S. Ge. (Corresponding author: Wenhai Qi.) W. Qi and X. Yang are with the School of Engineering, Qufu Normal University, Rizhao 276826, China (e-mail:;

Publisher Copyright:
© 2013 IEEE.


  • 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


Dive into the research topics of 'Input-Output Finite-Time Sliding-Mode Control for T-S Fuzzy Systems with Application'. Together they form a unique fingerprint.

Cite this