Trajectory Tracking Control of Planar Inverted Pendulum Via Fuzzy Sliding Mode Control

The inverted pendulum is characterized as a typical nonlinear, high order, unstable and underactuated system. The planar inverted pendulum is one of the more complicates ones. In the paper, we designed a controller based on sliding mode strategy to realize the trajectory tracking control of the planar inverted pendulum. Firstly, the simplified dynamical model of the planar invert pendulum is developed. Secondly, based on the simplified model, a fuzzy sliding mode controller is constructed to track the desired trajectory. Finally, we verified the validity of the algorithm through simulation experiments on MATLAB. The results show that the proposed control approach can ensure good stability and robustness.