Chattering-free fuzzy variable structure control for multivariable nonlinear systems

FLC-VSC for multivariable nonlinear systems is presented. The main contribution of this work is the development of new functions for chattering elimination without sacrificing invariant properties (Figs. 1 and 2 represent the temporal evolution of s1 and s2 before applying the proposed algorithm and Figs. 3 and 4 after applying the proposed algorithm respectively). Fig. 5 shows fuzzy sets of the switching surface. Fig. 6 shows the transient response of a two-link robot model. 62