A Novel Adaptive Super-Twisting Sliding Mode Controller with a Single Input-Single Output Fuzzy Logic Control based Moving Sliding Surface

In this paper, a new approach to the super-twisting sliding mode control of uncertain systems is proposed. The idea behind this control scheme is to utilize an adaptive sliding surface function, in which the slope of the surface is updated on-line using a simple single input-single output fuzzy logic inference system so that the sliding surface is rotated in such a direction that the tracking performance of the system under control is improved. Computer simulations are performed on a system with parameter uncertainties and external disturbances. The results are compared with a conventional super twisting sliding mode controller with a fixed sliding surface. The results have shown the improved performance of the proposed control approach in terms of a decrease in the reaching and settling times and robustness to parameter uncertainties and disturbances as compared to the conventional super-twisting sliding mode controller with a fixed sliding surface. Moreover, the proposed control scheme is very simple and easy to implement.