Smooth response sliding mode fuzzy control with intrinsic boundary layer

A new chattering-free Sliding Mode Fuzzy Controller (SMFC) with smooth control law is proposed for a class of nonlinear system. The proposed controller employs the concept of variable structure system with sliding mode or Sliding Mode Control (SMC), for design, and preserves the most fundamental property of conventional SMC that is robustness and invariance to model uncertainties. However, unlike the conventional sliding mode control, SMFC eliminates chattering problem through the concept input-output mapping factor and behave like a linear controller in the neighborhood of its sliding manifold. To demonstrate the superiority of SMFC over SMC, we conducted simulation studies on balancing an inverted pendulum at its upright position in the presence model uncertainties and external disturbances.