Adaptive Fuzzy Sliding Mode Control for Uncertain Inverted Pendulum System

摘要

Firstly, the mathematical model of inverted pendulum system is created. Taking into account the uncertainty of inverted pendulum system external disturbances, adaptive fuzzy sliding mode controller is proposed with sliding mode control (SMC) theory and fuzzy logic theory. This controller can weaken the impact of uncertainty through fuzzification of the switching gain, Owing to Fuzzy approximation of the inverted pendulum system equations for an inverted pendulum with unknown parameters, this system achieve the adaptive control and optimize the control action. Secondly, inverted pendulum system has the features which SMC can keep invariance to the external disturbance and parameter perturbation. Lyapunov function is used to prove the stability of the controller. Simulation results also show that this controller can ensure inverted pendulum system fast response and robustness in the SIMULINK conditions.