| Título: | Stabilization Controller Design for a class of Inverted Pendulums via Adaptive Fuzzy Sliding Mode Control |
| Autores: |
Liu, Heng; Huainan Normal University Xu, Jin; Huainan Normal University Sun, Yeguo; Huainan Normal University |
| Fecha: | 2013-07-03 |
| Publicador: | TELKOMNIKA: Indonesian journal of electrical engineering |
| Fuente: |
 |
| Tipo: |
info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| Tema: |
Technology Adaptive Fuzzy Control, Sliding Mode Control, X-Z Inverted Pendulum |
| Descripción: | X–Z inverted pendulum is a new kind of inverted pendulum and it can move with the combination of the vertical and horizontal forces. 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. Finally, simulation studies are done to show the stabilization of the X-Z inverted pendulum under the proposed method. |
| Idioma: | Inglés |