Optimal Guaranteed Cost Sliding-Mode Control of Interval Type-2 Fuzzy Time-Delay Systems

Hongyi Li, Jiahui Wang, Ligang Wu, Hak Keung Lam, Yabin Gao

Research output: Contribution to journalArticlepeer-review

194 Citations (Scopus)
729 Downloads (Pure)


This paper is concerned with the optimal guaranteed cost sliding-mode control problem for interval type-2 (IT2) Takagi-Sugeno fuzzy systems with time-varying delays and exogenous disturbances. In the presence of the uncertain parameters hidden in membership functions, an adaptive method is presented to handle the time-varying weight coefficients reflecting the change of the uncertain parameters. A new integral sliding surface is presented based on the system output. By designing a novel adaptive sliding-mode controller, system perturbation or modeling error can be compensated, and the reachability of the sliding surface can be guaranteed with the ultimate uniform boundedness of the closed-loop system. Optimal conditions of an H2 guaranteed cost function and an H∞ performance index are established for the resulting time-delay control system. Finally, an inverted pendulum system represented by the IT2 fuzzy model is applied to illustrate the advantages and effectiveness of the proposed control scheme.

Original languageEnglish
Article number7807230
Pages (from-to)246-257
Number of pages12
JournalIEEE Transactions on Fuzzy Systems
Issue number1
Publication statusPublished - 1 Feb 2018


  • Guaranteed cost control
  • interval type-2 (IT2) fuzzy systems
  • sliding-mode control (SMC)
  • time-delay systems


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