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Heng Liu
Huainan Normal University

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Stabilization Controller Design for a class of Inverted Pendulums via Adaptive Fuzzy Sliding Mode Control Heng Liu; Jin Xu; Yeguo Sun
Indonesian Journal of Electrical Engineering and Computer Science Vol 11, No 12: December 2013
Publisher : Institute of Advanced Engineering and Science

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Abstract

X–Z inverted pendulum is a new kind of inverted pendulum and it can move with the combination of the vertical and horizontal forces. This paper addresses  the control problem of X-Z inverted pendulum in the presents of system uncertainties and external disturbances, and an adaptive fuzzy sliding mode control approach is proposed. The fuzzy  system is used to approximate the system uncertainties and the complicated intermediate control functions in the backstepping control design. To update the parameters of the fuzzy system, a proper proportional-integral adaptation law is introduced.  Finally, simulation studies are done to show the stabilization of the X-Z inverted pendulum under the proposed method. DOI: http://dx.doi.org/10.11591/telkomnika.v11i12.2985
Co-Authors Jin Xu Yeguo Sun