A neuro-fuzzy-sliding mode controller using nonlinear sliding surface applied to the coupled tanks system

  • Ahcene Boubakir
  • Fares Boudjema
  • Salim Labiod


The aim of this paper is to develop a neuro-fuzzy-sliding mode controller (NFSMC) with a nonlinear sliding surface for a coupled tank system. The main purpose is to eliminate the chattering phenomenon and to overcome the problem of the equivalent control computation. A first-order nonlinear sliding surface is presented, on which the developed sliding mode controller (SMC) is based. Mathematical proof for the stability and convergence of the system is presented. In order to reduce the chattering in SMC, a fixed boundary layer around the switch surface is used. Within the boundary layer, where the fuzzy logic control is applied, the chattering phenomenon, which is inherent in a sliding mode control, is avoided by smoothing the switch signal. Outside the boundary, the sliding mode control is applied to drive the system states into the boundary layer. Moreover, to compute the equivalent controller, a feed-forward neural network (NN) is used. The weights of the net are updated such that the corrective control term of the NFSMC goes to zero. Then, this NN also alleviates the chattering phenomenon because a big gain in the corrective control term produces a more serious chattering than a small gain. Experimental studies carried out on a coupled tank system indicate that the proposed approach is good for control applications.


Sliding mode fuzzy logic neural networks coupled tanks system 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    S. V. Emel’yanov. Variable Structure Control Systems, Nouka, Moscow, 1967.Google Scholar
  2. [2]
    F. Boudjema, J. L. Abatut. Sliding-Mode: A New Way to Control Series Resonant Converters. In Proceedings of IEEE Conference Industrial Electronics Society, IEEE Press, Pacific Grove, Florida, USA, vol. 2, pp. 938–943, 1990.Google Scholar
  3. [3]
    M. E. Aggoune, F. Boudjema, A. Bensenousi, A. Hellal, M. R. Elmesai, S. V. Vadari. Design of Variable Structure Voltage Regulator Using Pole Assignement Technique. IEEE Transactions on Automatic Control, vol. 39, no. 10, pp. 2106–2110, 1994.zbMATHCrossRefGoogle Scholar
  4. [4]
    D. Boukhetala, F. Boudjema, T. Madani, M. S. Boucherit, N. K. M’sirdi. A New Decentralized Variable Structure Control for Robot Manipulators. International Journal of Robotics and Automation, vol. 18, no. 1, pp. 28–40, 2003.Google Scholar
  5. [5]
    M. Ertugrul, O. Kaynak. Neuro-sliding Mode Control of Robotic Manipulators. Mechatonics, vol. 10, no. 1–2, pp. 239–263, 2000.CrossRefGoogle Scholar
  6. [6]
    J. J. Slotine, S. S. Sastry. Tracking Control of Nonlinear Systems Using Sliding Surfaces with Application to Robot Manipulators. International Journal of Control, vol. 38, no. 2 pp. 465–492, 1983.zbMATHCrossRefMathSciNetGoogle Scholar
  7. [7]
    S. K. Spurgeon. Choice of Discontinuous Control Component for Robust Sliding Mode Performance. International Journal of Control, vol. 53, no. 1, pp. 163–179, 1991.zbMATHCrossRefMathSciNetGoogle Scholar
  8. [8]
    S. W. Kim, J. J. Lee. Design of a Fuzzy Controller with Fuzzy Sliding Surface. Fuzzy Sets and Systems, vol. 71, no. 3, pp. 359–367, 1995.CrossRefMathSciNetGoogle Scholar
  9. [9]
    C. Elmas, O. Ustun. A Hybrid Controller for the Speed Control of a Permanent Magnet Synchronous Motor Drive. Control Engineering Practice, vol. 16, no. 3, pp. 260–270, 2008.CrossRefGoogle Scholar
  10. [10]
    M. M. Abdelhameed. Enhancement of Sliding Mode Controller by Fuzzy Logic with Application to Robotic Manipulators. Mechatronics, vol. 15, no. 4, pp. 439–458, 2005.CrossRefGoogle Scholar
  11. [11]
    L. A. Zadeh. Fuzzy Sets. Information and Control, vol. 8, no. 3, pp. 338–353, 1965.zbMATHCrossRefMathSciNetGoogle Scholar
  12. [12]
    S. Labiod, M. S. Boucherit, T. M. Guerra. Adaptative Fuzzy Control of a Class of MIMO Nonlinear Systems. Fuzzy Sets and Systems, vol. 151, no. 1, pp. 59–77, 2005.zbMATHCrossRefMathSciNetGoogle Scholar
  13. [13]
    S. Labiod, T. M. Guerra. Adaptative Fuzzy Control of a Class of SISO Nonaffine Nonlinear Systems. Fuzzy Sets and Systems, vol. 158, no. 10, pp. 1126–1137, 2007.zbMATHCrossRefMathSciNetGoogle Scholar
  14. [14]
    M. Ertugrul, O. Kaynak, A. Sabanovic, K. Ohnishi. A Generalized Approach for Lyapunov Design of Sliding Mode Controllers for Motion Control Applications. In Proceedings of the 4th IEEE International Workshop on Advanced Motion Control, IEEE Press, Mie University, Japan, pp. 407–412, 1996.CrossRefGoogle Scholar
  15. [15]
    M. A. Hussain, P. Y. Ho. Adaptive Sliding Mode Control with Neural Network Based Hybrid Models. Journal of Process Control, vol. 14, no. 2, pp. 157–176, 2004.CrossRefGoogle Scholar
  16. [16]
    C. H. Tsai, H. Y. Chung, F. M. Yu. Neuro-sliding Mode Control with Its Applications to Seesaw Systems. IEEE Transactions on Neural Networks, vol. 15, no. 1, pp. 124–134, 2004.CrossRefGoogle Scholar
  17. [17]
    P. Wellstead. TecQuipment CE105 Coupled Tanks Apparatus, Control Systems Centre, Manchester, UK, 1993.Google Scholar
  18. [18]
    J. J. Slotine, W. Li. Applied Nonlinear Control, Prentice Hall, 1991.Google Scholar
  19. [19]
    D. S. Lee, M. G. Kim, H. K. Kim, M. J. Youn. Controller Design of Multivariable Variable Structure Systems with Nonlinear Switching Surfaces. IEE Proceedings: Control Theory and Applications, vol. 138, no. 5, pp. 493–499, 1991.CrossRefGoogle Scholar
  20. [20]
    N. Yeganefar, M. Dambrine, A. Kokosy. Stabilisation pratique par modes glissants pour un système linéaire à retard. In Proceedings of Conférence Internationale Francophone D’Automatique, Tunisia, CD-ROM, 2004. (in French)Google Scholar
  21. [21]
    M. Ertugrul, O. Kaynak. Neural Computation of the Equivalent Control in Sliding Mode for Robot Trajectory Control Applications. In Proceedings of IEEE International Conference on Robotics and Automation, Belgium, vol. 3, pp. 2042–2047, 1998.Google Scholar
  22. [22]
    J. Z. Liu, W. J. Zhao, L. J. Zhang. Design of Sliding Mode Controller Based on Fuzzy Logic. In Proceedings of the 3rd IEEE Conference on Machine Learning and Cybernetics, IEEE Press, Shanghai, PRC, pp. 616–619, 2004.Google Scholar

Copyright information

© Institute of Automation, Chinese Academy of Sciences and Springer-Verlag GmbH 2009

Authors and Affiliations

  1. 1.Control LaboratoryMilitary Polytechnic SchoolAlgiersAlgeria
  2. 2.Process Control LaboratoryNational Polytechnic SchoolEl-Harrach, AlgiersAlgeria
  3. 3.Laboratory of Modeling and Studies in Electrical Engineering, Faculty of EngineeringUniversity of JijelJijelAlgeria

Personalised recommendations