Fuzzy sliding mode control of rotary inverted pendulum

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-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 languageEnglish
Title of host publicationICCC 2007 - 5th IEEE International Conference on Computational Cybernetics, Proceedings
Number of pages6
Publication date2007
Pages57-62
Article number4402019
ISBN (Print)1424411467, 9781424411467
DOIs
Publication statusPublished - 2007
Externally publishedYes
EventICCC 2007 - 5th IEEE International Conference on Computational Cybernetics - Gammarth, Tunisia
Duration: 19 Oct 200721 Oct 2007

Conference

ConferenceICCC 2007 - 5th IEEE International Conference on Computational Cybernetics
CountryTunisia
CityGammarth
Period19/10/200721/10/2007

Keywords

  • Fuzzy controller
  • Rotary inverted pendulum
  • Sliding mode control

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