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

Volume

2

fYear

1995

fDate

6-10 Nov 1995

Firstpage

1468

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IECON.1995.484167

Filename

484167