A scheme of fractional order sliding mode controller based on fuzzy logic algorithm is proposed for dealing
with the chattering phenomenon existing in conventional integral order sliding mode controller. The fractional order sliding
mode surface covers the whole control domain so that the system is robust with disturbances all over the control domain.
In order to deal with the upper bound of uncertainties, fuzzy logic inference algorithm is used to obtain the gain of softswitching.
Simulations and experiments demonstrate that the proposed fractional order sliding mode controller not only
achieves favorable control performances, but also is robust with regard to external disturbances.