Chattering-free fuzzy adaptive robust sliding-mode vibration control of a smart flexible beam

Chattering is an undesired phenomenon associated with classical sliding-mode control. The discontinuous bang-bang robust controller causes chattering near the equilibrium. To attenuate the chattering, in this paper, a fuzzy logic smooth switch system is integrated with the adaptive robust sliding-mode control to form a fuzzy adaptive robust sliding-mode control for the active vibration control of a smart flexible beam integrated with piezoceramic actuators and sensors. The asymptotical stability proof of the proposed fuzzy adaptive robust sliding-mode controller is provided by Lyapunov's direct method. The experimental results show that the proposed fuzzy adaptive robust sliding-mode controller quickly suppresses the vibration. Additionally, with the fuzzy switch system, the chattering is successfully attenuated.