Robust Control Based on Fast Terminal Sliding Mode Control with Adaptive Interval Type-2 Fuzzy PID

This article introduces a new fault-tolerant control method based on type-2 fuzzy systems with PID fast terminal sliding mode control. By integrating the advantages of proportional-integral-derivative (PID) control with fast terminal sliding mode (FTSM) control, a novel proportional-integral-derivative fast terminal sliding mode (PID-FTSM) is developed to accelerate convergence and decrease steady-state error. To provide outstanding fault tolerant control performance and approximation of system uncertainties, a type-2 fuzzy logical switching approach law eliminates the chattering phenomenon and reduce the need of prior knowledge without affecting the system’s robustness. The overall stability of the system is verified using the Lyapunov function. Finally, several experiments demonstrate that the suggested technique outperforms alternatives.