Tuning fuzzy fractional order PID sliding-mode controller using PSO algorithm for nonlinear systems

In this paper, a robust fuzzy fractional order sliding mode controller (FFOSMC) for nonlinear systems is studied. Firstly a sliding PI^α D^α surface is proposed, and the control law is designed. In order to reduce the chattering phenomenon in sliding mode control (SMC), a Takagi-Sugeno fuzzy logic controller is used to replace the discontinuity in the signum function, and to ensure optimal performance in the closed loop system, the PSO algorithm is used. Finally the effectiveness of the proposed approach of FFOSMC-based PSO algorithm is demonstrated by simulation results with an inverted pendulum and chaotic system.