A Self-Organizing Fuzzy Sliding-Mode Controller Design for a Class of Nonlinear Servo Systems

A self-organizing fuzzy controller to augment sliding-mode control (SOFSMC) scheme for a class of nonlinear systems is proposed. The motivation behind this scheme is to combine the best features of self-organizing fuzzy control and sliding-mode control to achieve rapid and accurate tracking control of a class of nonlinear systems. The chatter encountered by most sliding-mode control schemes is greatly alleviated without sacrificing invariant properties. A stability analysis is presented; the design guidelines and the class of applicable systems are clearly identified. To verify the scheme, we performed experiments on its implementation in a magnetic levitation system. The results show that both alleviation of chatter and robust performance are achieved; the advantages of the scheme are indicated in comparison with the conventional sliding-mode design.