Abstract
In this paper, we investigated the design of robust controllers for a class of nonlinear uncertain systems with bounded inputs, which have not yet been thoroughly discussed. Based on the variable structure system theory, we developed a novel stable sliding mode control scheme for this class of systems. A key feature of this control scheme is the introduction of a new generalized error as a complement to the conventional generalized error to form a meaningful error measure so that a new sliding mode controller incorporated with a two-input one-output fuzzy controller can be constructed to improve the reaching behavior of the system during the reaching phase as well as the tracking precision while in the boundary layer. The nonlinear bench mark problem, TORA, was used as an example to demonstrate the effectiveness of the design. Simulation results showed that, as compared with various available controllers in literature, much better responses to any initial conditions and to single-frequency sinusoidal disturbances can be obtained.
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