The current work has proposed an approach to the controller design of a fuzzy non-singular terminal sliding mode (NTSM) for a type of planar systems with input saturation. On the basis of a modified version of NTSM, a category of saturated NTSM controller is first constructed to ensure that the states can reach the sliding surface and finite-time converge to the origin. On this basis, a fuzzy logic controller including two fuzzy input variables and a fuzzy output variable is developed to adaptively adjust the control gain such that the gain of the NTSM controller can be automatically minimized. This also implies that the chattering phenomenon encountered by most conventional sliding mode control (SMC) schemes can be significantly attenuated without sacrificing inherent properties. Finally, in comparison with a traditional SMC method, the superiority of the presented algorithm is confirmed by the comparative simulation results in terms of chattering alleviation and robustness.

当前的工作已经提出了一种用于具有输入饱和的平面系统的模糊非奇异终端滑模（NTSM）控制器设计的方法。在NTSM的修改版本的基础上，首先构造了一个饱和NTSM控制器类别，以确保状态可以到达滑动表面并在有限时间内收敛到原点。在此基础上，开发了包括两个模糊输入变量和模糊输出变量的模糊逻辑控制器，以自适应地调整控制增益，从而可以自动最小化NTSM控制器的增益。这也意味着在不牺牲固有特性的情况下，大多数常规滑模控制（SMC）方案遇到的抖振现象可以得到显着衰减。最后，与传统的SMC方法相比，