Fuzzy sliding mode control of rotary inverted pendulum

M. Ahmadieh Khanesar; M. Teshnehlab; M. Aliyari Shoorehdeli

doi:10.1109/ICCCYB.2007.4402019

Fuzzy sliding mode control of rotary inverted pendulum

M. Ahmadieh Khanesar^*, M. Teshnehlab, M. Aliyari Shoorehdeli

^*Corresponding author for this work

K.N. Toosi University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

Abstract

In this study, a fuzzy sliding mode controller for a rotary inverted pendulum is designed. Sliding mode controllers are high performance nonlinear controllers. Not only Sliding mode controller stabilizes the system under control effectively but also it robustly compensates the effect of bounded uncertainties and shows invariance properties in the presence of bounded disturbance. In this study, a fuzzy system is added to the classical sliding mode controller to adaptively estimate the equivalent signal of the sliding mode controller. In addition, using lyapunov theory the stability of the controller and the adaptation law is guaranteed.

Original language	English
Title of host publication	ICCC 2007 - 5th IEEE International Conference on Computational Cybernetics, Proceedings
Number of pages	6
Publication date	2007
Pages	57-62
Article number	4402019
ISBN (Print)	1424411467, 9781424411467
DOIs	https://doi.org/10.1109/ICCCYB.2007.4402019
Publication status	Published - 2007
Externally published	Yes
Event	2007 5th IEEE International Conference on Computational Cybernetics - Gammarth, Tunisia Duration: 19 Oct 2007 → 21 Oct 2007 Conference number: 5 https://ieeexplore.ieee.org/xpl/conhome/4402008/proceeding

Conference

Conference	2007 5th IEEE International Conference on Computational Cybernetics
Number	5
Country/Territory	Tunisia
City	Gammarth
Period	19/10/2007 → 21/10/2007
Internet address	https://ieeexplore.ieee.org/xpl/conhome/4402008/proceeding

Keywords

Fuzzy controller
Rotary inverted pendulum
Sliding mode control

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10.1109/ICCCYB.2007.4402019

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title = "Fuzzy sliding mode control of rotary inverted pendulum",

abstract = "In this study, a fuzzy sliding mode controller for a rotary inverted pendulum is designed. Sliding mode controllers are high performance nonlinear controllers. Not only Sliding mode controller stabilizes the system under control effectively but also it robustly compensates the effect of bounded uncertainties and shows invariance properties in the presence of bounded disturbance. In this study, a fuzzy system is added to the classical sliding mode controller to adaptively estimate the equivalent signal of the sliding mode controller. In addition, using lyapunov theory the stability of the controller and the adaptation law is guaranteed.",

keywords = "Fuzzy controller, Rotary inverted pendulum, Sliding mode control",

author = "{Ahmadieh Khanesar}, M. and M. Teshnehlab and {Aliyari Shoorehdeli}, M.",

year = "2007",

doi = "10.1109/ICCCYB.2007.4402019",

language = "English",

isbn = "1424411467",

pages = "57--62",

booktitle = "ICCC 2007 - 5th IEEE International Conference on Computational Cybernetics, Proceedings",

note = "2007 5th IEEE International Conference on Computational Cybernetics, ICCC 2007 ; Conference date: 19-10-2007 Through 21-10-2007",

url = "https://ieeexplore.ieee.org/xpl/conhome/4402008/proceeding",

}

Ahmadieh Khanesar, M, Teshnehlab, M & Aliyari Shoorehdeli, M 2007, Fuzzy sliding mode control of rotary inverted pendulum. in ICCC 2007 - 5th IEEE International Conference on Computational Cybernetics, Proceedings., 4402019, pp. 57-62, 2007 5th IEEE International Conference on Computational Cybernetics, Gammarth, Tunisia, 19/10/2007. https://doi.org/10.1109/ICCCYB.2007.4402019

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AU - Aliyari Shoorehdeli, M.

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AB - In this study, a fuzzy sliding mode controller for a rotary inverted pendulum is designed. Sliding mode controllers are high performance nonlinear controllers. Not only Sliding mode controller stabilizes the system under control effectively but also it robustly compensates the effect of bounded uncertainties and shows invariance properties in the presence of bounded disturbance. In this study, a fuzzy system is added to the classical sliding mode controller to adaptively estimate the equivalent signal of the sliding mode controller. In addition, using lyapunov theory the stability of the controller and the adaptation law is guaranteed.

KW - Fuzzy controller

KW - Rotary inverted pendulum

KW - Sliding mode control

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ER -

Fuzzy sliding mode control of rotary inverted pendulum

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Keywords

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