Adaptive Fuzzy Sliding Mode Stabilization Controller for Inverted Pendulums
نویسندگان
چکیده
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. The controller can guanrantee the system states and their derivatives asymptotically converge to zero. Finally, simulation studies are done to show the stabilization of the X-Z inverted pendulum under the proposed method.
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