Application of Fuzzy Sliding Mode Controller Via Adaptive Method in Inverted Pendulum Systems

• Main Authors: Hung-Ping Lin, 林泓濱
• Other Authors: Hung-Yuan Chung
• Format: Others
• Language: zh-TW
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/20977932443607799172

碩士 === 國立中央大學 === 電機工程研究所 === 93 === Application of Fuzzy Sliding Mode Controller Via Adaptive Method in Inverted Pendulum Systems Abstract The paper will address the problem of controlling an unknown single-input-single-output (SISO) and multi-input-multi-output (MIMO) nonlinear system. A fuzzy sliding mode controller (FSMC) is used to approximate the equivalent control via an on-line fuzzy adaptation scheme, and the hitting control is appended to show that the proposed FSMC control with dead zone can result in a stable closed-loop system. This scheme also provides the designers flexibility to design and to implement the fuzzy rule base without domain experts and without mathematical model. The robust adaptive scheme is shown to be able to guarantee that the output tracking error can converge to a residual set ultimately in inverted pendulum systems (single-inverted pendulum system、double-inverted pendulum system、spring-linked two cart-pole systems 、two-dimensional inverted pendulum system).