Adaptive Fuzzy Sliding Mode Control for X-z Inverted Pendulum
نویسنده
چکیده
X–Z inverted pendulum is a new kind of inverted pendulum and it can move with the combination of the vertical and horizontal forces. In this paper, the control problem of X-Z inverted pendulum with system uncertainties is addressed, and a pair of decoupled adaptive fuzzy sliding mode control method is proposed. The fuzzy logic system is employed to approximate the system uncertainties as well as the complicated intermediate control functions. For updating the parameter of the fuzzy system, a proportional-integral adaptation law is proposed. Finally, simulation studies are carried out to show the stabilization of the X-Z inverted pendulum under the proposed control method.
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