A Fuzzy Sliding Mode Control for Rotational Inverted Pendulum
- Resource Type
- Conference
- Authors
- Zheng Bin; Dae-Sik Lee
- Source
- 한국지능시스템학회 학술발표 논문집. 2006-11 16(2):323-326
- Subject
- rotational Inverted pendulum fuzzy sliding mode control
- Language
- Korean
- ISSN
- 2093-4025
2765-0294
Rotational inverted pendulum is a typical under-actuated system. For its highly nonlinear characteristic, a sliding mode controller is chosen for its robustness against the system uncertainties. Tow fuzzy inference mechanisms are applied in this paper to reduce the chattering phenomenon. One is proposed to construct a time-varying sliding surface. Another one is used to obtain the minimum upper bound of the uncertainties. A comparison between the conventional sliding mode and the fuzzy sliding mode is shown by simulations.