A Fuzzy Sliding Controller for Nonlinear Systems

It is well known that sliding-mode control can give good transient performance and system robustness. However, the presence of chattering may introduce problems to the actuators. Many chattering elimination methods use a finite dc gain controller which leads to a finite steady-state error. One method to ensure zero steady-state error is using a proportional plus integral (PI) controller. This paper proposes a fuzzy logic controller which combines a sliding-mode controller (SMC) and a PI controller. The advantages of the SMC and the PI controller can be combined and their disadvantages can be removed. The system stability is proved, although there is one more state variable to be considered in the PI subsystem. An illustrative example shows that good transient and steady-state responses can be obtained by applying the proposed controller. Index Terms--Combining controllers, fuzzy sliding, Lyapunov, stability.