Fuzzy sliding mode controller design with variable sliding surface

In this paper, a fuzzy sliding mode controller (FSMC) with the variable sliding surface instead of the fixed sliding surface and adjustable membership functions are proposed. The Taguchi´s method and the Takagi-Sugeno (TS) fuzzy model are applied to regulate the membership functions and modify the parameter to time-varying, respectively. Through these modifications, a suitable membership function can be obtained without trial-and-error and can improve the oscillation phenomenon of control law during the reaching phase. Finally, an inverted pendulum system is proposed to simulate and the experiment verified that the proposed method has the satisfactory results.