Adaptive Fuzzy Sliding Mode Control for Inverted Pendulum

A nonlinear sliding mode control method is presented for single inverted pendulum position tracking control. Sliding mode control (SMC) is a special nonlinear control method which have quick response, insensitive to parameters variation and disturbance, online identification for plants are not needed, its very suitable for nonlinear system control, but in reality usage, the chattering reduction and elimination is key problem in SMC. By using a function-augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. Fuzzy logic systems are used to approximate the unknown system functions and switch item. Robust adaptive law is proposed to reduce approximation errors between true nonlinear functions and fuzzy systems. the definition of sliding mode control was presented and on the basis of the inverted pendulum system, the sliding mode controller was designed, Stability of the proposed control scheme is proved by Lyapnouv theorem and the control scheme is applied to an linear system and inverted pendulum system respectively, simulation studies shows the methods is effective and can applied into linear or nonlinear control system.