A robust fuzzy sliding mode controller is presented for a multiple-input–multiple-output (MIMO) Dutch-Roll system with nonaffine inputs and external disturbances. An integrating factor with a nonlinear saturation function is introduced to construct a nonlinear integral sliding mode (NISM) surface to provide better transient response than traditional sliding mode control. Fuzzy logic systems are employed to approximate the unknown nonaffine part of the system directly. Based on Lyapunov method, the tracking errors are guaranteed to be asymptotically stable with the additional adaptive compensation terms. To verify the feasibility and effectiveness of the proposed controller, the Dutch-Roll system is presented for simulation.

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