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Direct adaptive sliding mode tracking control law design method and its application to an inverted pendulum system have been presented in this paper. Firstly, problem formulation and the introduction of dynamic fuzzy logical system (DFLS) were given. Then the sliding mode control (SMC) law was constructed via DFLS which parameters were self-tuned on-line. The adaptive laws were determined so that the sliding mode satisfies reaching condition by applying the analysis of Lyapunov stability theory. Therefore, the closed-loop system is asymptotically stable and many merits can be obtained such as robustness, chattering free and adaptive characters. Finally, the presented control design was applied to an inverted pendulum system, and then the experimental results were proposed which validates the good performance of the obtained control law under various perturbations.