Adaptive Sliding-Mode Fuzzy Control Systems: Gradient Descent Method

Gradient descent is a computational optimization method which is based on the first-order Taylor expansion of nonlinear functions. In order to find a local minimum for a nonlinear function, this algorithm uses the initial parameters of the nonlinear function and updates these parameters in the negative direction of the gradient of the function with respect to the parameters. In this chapter, adaptive fuzzy control design procedure using the partial derivatives of a sliding mode cost function and Gradient descent estimation method is explained.