Design of Distance-Based Two-Layer Fuzzy Sliding Mode Control

In this paper, we present an algorithm using distance-based two-layer fuzzy sliding mode control (DBTLF-SMC) to achieve the prespecified trajectory for a class of nonlinear systems. The tracking trajectory is composed of a set of sequentially-operated piecewise continuous sliding surfaces which the system's state can follow to the equilibrium in phase plane. The algorithm using the boundary layer technique is capable of handling the reaching phase (RP) of the trajectory and chattering effects inherent to the VSC easily and effectively. By using distance-based two-layer fuzzy sliding mode controller, the state would follow the sliding surfaces in turn, and the parametric uncertainties or disturbances can be reduced effectively and the response of the tracking error will be small than that of the distance-based single-layer fuzzy sliding mode control. It is shown that the stability of the control system is guaranteed in the Lyapunov sense. Finally, an inverted pendulum control problem subject to external disturbance is simulated to demonstrate the validity of the proposed algorithm