Fuzzy control design for the pre-specified trajectory tracking with sliding mode

We combine the sliding mode control and fuzzy logic control concepts to complete the phase plant trajectory tracking task. In the work, the pre-specified trajectory is divided into several connected sliding surfaces. With the designed fuzzy logic control, the system's state in the corresponding region has a local hitting and sliding motion on the corresponding sliding surface; the state reaches to the origin. Finally, a practical example is given to confirm the availability of the controller.