Design of self-tuning fuzzy sliding mode control for TORA system

In this paper, a self-tuning fuzzy sliding-mode controller design approach with decoupled method is proposed. The decoupled method provides a simple way to achieve asymptotic stability for a class of fourth-order nonlinear system. Moreover, heuristic sliding factors are implemented as fuzzy inference. Therefore, the proposed method eliminates the trial-and-error process for finding appropriate the sliding factor and fuzzy rules in decoupled self-tuning signed-distance fuzzy sliding mode controller implementation. The simulation of translational oscillations by a rotational actuator (TORA) system is presented to demonstrate the effectiveness and robustness of the method. Using this approach, the response of system will converge faster than that of previous reports.