A Decoupled Fuzzy Sliding Mode Approach to Swing-up and Stabilize an Inverted Pendulum
نویسندگان
چکیده
In this paper we present a novel decoupled fuzzy sliding mode (DFSM) strategy for swinging-up an inverted pendulum. In the proposed technique the control objective is decomposed into two sub-tasks, i.e., swing-up and stabilization. Accordingly, first a DFSM controller stabilizing the pole is synthesized and optimised via genetic algorithms. Next, a DFSM controller with a piecewise linear sliding manifold is synthesized and optimised, dealing with the task of entering the stabilization zone. Numerical simulations show the effectiveness of the proposed controller for a model encompassing friction as well as a limited control action and a restricted cart travel.
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