Robust adaptive sliding-mode control using fuzzy modeling for aninverted-pendulum system
Chaio-Shiung Chen
Wen-Liang Chen
Dept. of Power Mech. Eng., Nat. Tsing Hua Univ., Hsinchu;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Apr 1998
Volume: 45,
Issue: 2
On page(s): 297-306
ISSN: 0278-0046
References Cited: 21
CODEN: ITIED6
INSPEC Accession Number: 5885055
Digital Object Identifier: 10.1109/41.681229
Current Version Published: 2002-08-06
Abstract
In this paper, a new robust adaptive control architecture is
proposed for operation of an inverted-pendulum mechanical system. The
architecture employs a fuzzy system to adaptively compensate for the
plant nonlinearities and forces the inverted pendulum to track a
prescribed reference model. When matching with the model occurs, the
pendulum will be stabilized at an upright position and the cart should
return to its zero position. The control scheme has a sliding control
input to compensate for the modeling errors of the fuzzy system. The
gain of the sliding input is automatically adjusted to a necessary level
to ensure the stability of the overall system. Global asymptotic
stability of the algorithm is established via Lyapunov's stability
theorem. Experiments on an inverted-pendulum system are given to show
the effectiveness of the proposed control structure
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