Parallel fuzzy sliding-mode control of a spring-linked cart-pole system

摘要

In this paper, the design of parallel fuzzy logic sliding-mode controller (FSMC) for the spring-linked cart-pole system is examined. Two FSMCs are developed to make the vertical pole always upright and regulate the cart's position even when a spring is linked to the pole. The feasibility and robustness of the proposed scheme are illustrated by computer simulations and real experiments.