Simple Sliding Mode Controller with Adaptive Fuzzy Saturation Function for Nonlinear Single Input-Single Output System


Sliding mode control algorithm that uses fuzzy saturation function is designed inthis paper for nonlinear system. The fuzzy saturation function is suggested to improvethe accuracy and the robustness of the sliding mode control which are partially lostwhen using a fixed boundary layer. The fuzzy saturation function is simple, in thesense that both the membership functions and the rule base are simple. The overallcontrol algorithm has stability assurance for the closed-loop controlled system;therefore, it may be applied to control different systems, in this paper this algorithm isapplied on nonlinear SISO system with 10%parameter uncertainty and nonlineardisturbance. Simulation results show that the developed algorithm has good controlperformance with negligible chattering.