Abdul  Kareem, Mohammad Fazle  Azeem, 
    A Novel Adaptive Super-Twisting Sliding Mode Controller with a Single Input-Single Output Fuzzy Logic Control Based Time Varying Sliding Surface,
    International Journal of Soft Computing,
    Volume 8,Issue 5,
    2013,
    Pages 356-364,
    ISSN 1816-9503,
    ijscomp.2013.356.364,
    (https://makhillpublications.co/view-article.php?doi=ijscomp.2013.356.364)
    Abstract: In this study, a novel approach to the super-twisting sliding 
  mode control of dynamic uncertain systems is proposed. The idea behind this 
  control scheme is to utilize a time varying slope in the sliding surface function 
  using a simple single input-single output fuzzy logic inference system so that 
  the sliding surface is rotated in such a direction that the tracking performance 
  of the system under control is improved. Computer simulations are performed 
  on a system with parameter uncertainties and external disturbances. The results 
  are compared with a conventional super twisting sliding mode controller with 
  a fixed sliding surface. The results have shown the improved performance of 
  the proposed approach in terms of a decrease in the reaching and settling times 
  and robustness to disturbances and parameter uncertainties as compared to the 
  conventional super-twisting sliding mode controller with a fixed sliding surface.
    Keywords: Sliding mode control;super-twisting sliding mode control;adaptive control;perturbation;uncertainties;chattering;fuzzy logic control;sliding surface slope;Lyapunov function;robustness