Sliding Mode Fuzzy Control with Optimal Rule Table

In this paper, first the concept of conventional sliding mode control is discussed briefly. Then a fuzzy control is developed based on the methodology of variable structure system with sliding mode control. To eliminate the chattering problem, we introduced a boundary layer near the sliding surface, through the concept of input-output mapping factor. Furthermore, to optimize the number of rules for the proposed controller, we adopted the suction control methodology from the traditional sliding mode control and allowed its boundary layer width to vary. Finally, the proposed sliding mode fuzzy controller is employed to stabilize an inverted pendulum at its upright position from various initial conditions. The simulation results indicate that SMFC is a robust controller and preserves the most intriguing property of conventional sliding mode control, the invariance property.