Title :
Parallel fuzzy sliding mode control of the cart-pole system
Author :
Li, Tzuu-Hseng S. ; Tsai, Chin-Yin
Author_Institution :
Dept. of Electr. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan
Abstract :
In this paper, a control design algorithm for the cart-inverted-pendulum system is developed. The control strategy combines fuzzy logic theory with sliding mode control, called fuzzy sliding mode control, is used to balance a vertical pole straight up and regulate cart position. The dynamic response of the cart-pole is divided into approaching condition and departure condition. According to different operation situations, two parallel fuzzy sliding controllers are constructed. Moreover, the feasibility and robustness of the proposed algorithm can be demonstrated by the computer simulation and experimental results
Keywords :
control system synthesis; controllers; digital simulation; fuzzy control; parallel processing; pendulums; position control; simulation; variable structure systems; approaching condition; cart position regulation; cart-inverted-pendulum system; cart-pole system; computer simulation; control design algorithm; departure condition; dynamic response; fuzzy logic theory; parallel fuzzy sliding mode control; sliding mode control; vertical pole balancing; Control systems; Fuzzy control; Fuzzy logic; Fuzzy systems; Gold; Humans; Nonlinear control systems; Robustness; Sliding mode control; Vectors;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1995., Proceedings of the 1995 IEEE IECON 21st International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-3026-9
DOI :
10.1109/IECON.1995.484167
