Exponential function based fuzzy sliding mode control of uncertain nonlinear systems

Abstract

In this paper, exponential function based fuzzy sliding-mode control design for uncertain nonlinear systems is proposed. The fuzzy sliding mode control was successful in robust performance once the system is in sliding phase. However during reaching phase the system is vulnerable to external disturbances and perturbations. The proposed controller is designed by considering the crisp sliding surface as input, defining the output membership functions on universe of control with exponential function based gain. The rule base of the controller is designed based on sliding mode control law. The exponential function will dynamically adapts the variation of the controlled system. The designed controller will improve the performance of the system during reaching phase. The performance of the proposed controller is tested on uncertain nonlinear systems by simulation and validated by experimentation results.