Sliding mode fuzzy control with application to electrical servo drive

The problem of designing sliding mode fuzzy controller (SMFC) on the basis of sliding mode control (SMC) theory and fuzzy logic control (FLC) technique is considered. By integrating FLC based on Sugeno inference with sliding mode control, each THEN-part function in the SMFC rule base is a sliding mode control law. Every fuzzy rule in the rule base has its own physical meaning and the generation of the rule base is much easier than that of the conventional fuzzy logic controller. In addition, a moving sliding surface and a boundary layer tuned by fuzzy logic are employed to design the SMFC rule base such that the system properties are improved. Furthermore, the proposed SMFC is applied to an electrical servo drive system. Simulation results verify that the system with SMFC can achieve favorable position tracking performance and robustness when subjected to parameter variations and external load disturbance.