By Topic

Fuzzy sliding mode control for inverted pendulum swing-up with restricted travel

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Dotoli, M. ; Dipt. di Elettrotecnica ed Elettronica, Politecnico di Bari, Italy ; Maione, B. ; Naso, D. ; Turchiano, B.

Swinging up an inverted pendulum is a common benchmark task for the investigation of automatic control techniques. In this paper we introduce a new Fuzzy Sliding Mode (FSM) technique for swinging-up an inverted pendulum and controlling the connected cart, while minimizing the swing-up time, the cart travel and the required control action. The FSM technique adopted is based on a piecewise linear sliding manifold that is bent towards the far off zones of the pole phase plane, thus enabling the reduction of the control action. Further, in order to limit the cart overshoot two variable gains were inserted in the cart controller. We tested our technique both on a nonlinear model, including friction, and on a lab equipment: we report both on the upwards stabilization and swing-up. The pendulum upwards equilibrium point was made globally stable.

Published in:

Fuzzy Systems, 2001. The 10th IEEE International Conference on  (Volume:2 )

Date of Conference:

2-5 Dec. 2001