Adaptive Fuzzy Sliding Mode Control of the Inverted-Pendulum System

• Main Authors: Uan-Shi Chen, 陳原許
• Other Authors: Chin-Wang Tao
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/73987132354515854055

碩士 === 國立宜蘭大學 === 電機工程學系碩士班 === 95 === Since the high-nonlinearity and the sensitiveness for the external disturbances, the inverted pendulum-cart system is usually used to test the performance of controllers such as the PID Control, LQR-Optimal Control, Neural-Network Control, Adaptive Sliding Mode Control, and Fuzzy Logic Control, etc. However, to design the traditional controllers often need the accurate mathematic model of the plants. In order to simplify the designed of the controller for an inverted pendulum-cart system, the nonlinearity friction of the cart is usually replaced by the mathematic model which proportion directly with the velocity of a cart. After the inverted pendulum-cart system simplify will not overhang the actions and characters of the system originally, and reduce the integral performance with inverted pendulum-cart system. Therefore, the investigate will combine the fuzzy logic theory and the approach of the sliding mode control to design three fuzzy-hierarchical controllers for the inverted pendulum-cart system with the nonlinearity friction and the limitations on the control action, , and the rail length, . Furthermore, it also adopts the adaptive mechanism to enter into three controllers above to design three adaptive-fuzzy-hierarchical controllers. To control the inverted pendulum-cart system with the six kinds of the controllers previously, it expects to swing-up and balance the inverted pendulum-cart system in seconds. Moreover, to design the controllers by the adaptive mechanisms does not only simplify on devise greatly, but also increases the matching of its parameters with systems. Besides, the six kinds of the controllers are constructed by a main spindle of the fuzzy logic control have the robustness greatly for the uncertain external disturbances and the variable parameters of the system, and after it combines the sliding mode control which is intrinsic robust, the controllers can produce remarkable performance.