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Proceedings of 2009 International Symposium on Computer Science and Computational Technology (ISCSCT 2009)

Huangshan, China, December 26-28, 2009

Editors: Fei Yu, Guangxue Yue, Jian Shu, Yun Liu

AP Catalog Number: AP-PROC-CS-09CN005

ISBN: 978-952-5726-07-7 (Print), 978-952-5726-08-4 (CD-ROM)

Page(s): 231-234

Adaptive Fuzzy Sliding Mode Control for Inverted Pendulum

Wu Wang

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A nonlinear sliding mode control method is presented for single inverted pendulum position tracking control. Sliding mode control (SMC) is a special nonlinear control method which have quick response, insensitive to parameters variation and disturbance, online identification for plants are not needed, its very suitable for nonlinear system control, but in reality usage, the chattering reduction and elimination is key problem in SMC. By using a function-augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. Fuzzy logic systems are used to approximate the unknown system functions and switch item. Robust adaptive law is proposed to reduce approximation errors between true nonlinear functions and fuzzy systems. the definition of sliding mode control was presented and on the basis of the inverted pendulum system, the sliding mode controller was designed, Stability of the proposed control scheme is proved by Lyapnouv theorem and the control scheme is applied to an linear system and inverted pendulum system respectively, simulation studies shows the methods is effective and can applied into linear or nonlinear control system.

Index Terms

adaptive fuzzy control; sliding mode control; inveted pendulumr; nonlinear system; simulation

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