Decoupled adaptive fuzzy sliding mode control for an inverted pendulum

Ji Chang Lo, Da Xin Zheng

Research output: Contribution to journalArticlepeer-review

Abstract

A decoupled adaptive fuzzy sliding mode controller (DAFSMC) is proposed in this paper. The motivation behind this controller is to incorporate the best features of self-tuning fuzzy control and sliding-mode control with decoupled method to control an unstable 4th order inverted pendulum system. The consequent parameters of the membership functions in the fuzzy rule base are tuned according to some adaptive algorithm so as to control the states of two subsystems, decoupled from the 4th order system, to hit each user-defined sliding surface and then slide along it continuously. The initial IF-THEN rules in the AFSMC can be randomly selected or roughly given by human experts, and then automatically tuned by a direct adaptive law, thereby, reducing the expertise dependency in the design procedure of fuzzy logic control. By applying the AFSMC to control a nonlinear unstable inverted pendulum system, the simulation results show that the expected approximation sliding property occurred, and the dynamic behavior of the control system can be determined by the sliding surface. Finally, adaptive fuzzy sliding mode control is applied to control a 6th order nonlinear system and confirms the validity of the proposed approach.

Original languageEnglish
Pages (from-to)353-364
Number of pages12
JournalJournal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao
Volume20
Issue number4
StatePublished - 1999

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