Abstract: A control scheme based on exponential reaching law is proposed for a class of nonlinear systems with wide variations of parameters, chattering and nonlinear friction problems. An adaptive fuzzy sliding mode control (AFSMC) scheme is employed to realize the precision position control, to adjust the unknown external disturbance, to adjust the reaching law parameters online, to guarantee the tracking performance and enhance the robustness. The traditional sign function is replaced by a saturation function. This improved saturation function ensures that the switching process is more continuous. Chattering of the chain driving shell magazine is also restrained. The stability and convergence of the overall system are proved by the Lyapunov method. Experimental results show that the performance of the chain driving shell magazine by using this AFSMC scheme is better than using equivalent sliding mode control (SMC) scheme. The system has a good position tracking performance, a strong anti-interference capability and a desired positioning accuracy.

Key words: ordnance science and technology, chain driving shell magazine, chattering, adaptive fuzzy sliding mode control (AFSMC), exponential reaching law, saturation function