The Application of Interval Type-2 Fuzzy Sliding Mode Control to Inverted Pendulum System

• Main Authors: HUANG, KUAN-YING, 黃冠穎
• Other Authors: CHEN, SHIH-SHIN
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/v4aw25

碩士 === 國立虎尾科技大學 === 自動化工程系碩士班 === 106 === The thesis presents type-1 fuzzy and type-2 fuzzy control theorems for controlling the inverted pendulum system. The advantage of type-1 fuzzy control theory is that the language rules formed by expert knowledge or operator experience can be directly transformed into automatic control strategies. The interval type-2 fuzzy control theory has better fault tolerance and uncertainty than type-1 fuzzy control theory. Writes balance mode to the type-1 fuzzy controller and type-2 fuzzy controller, control pendulum on state of balance in time. Concurrently, proved the feasibility of fuzzy control system and the difference of the pendulum balance control between the type-1 fuzzy controller and inverted type-2 fuzzy controller . In addition, this thesis designs a fuzzy sliding mode controller by combining sliding mode control with fuzzy control. The advantage of sliding mode control theory on stability to system uncertainties or extrinsic disturbances. The disadvantage is that it requires an accurate mathematical model of the controlled device, while the computational mathematical model requires a large amount of computation and verification time. Sliding mode control combines with fuzzy control that the mathematical model of the controlled device can be omitted and the control force with strong key ness can be obtained.