Performance enhancement of inverted pendulum system by using type 2 fuzzy sliding mode control (T2FSMC (original) (raw)
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Adaptive fuzzy sliding mode controller for a single-stage inverted pendulum
International Journal of Advances in Applied Sciences (IJAAS), 2022
Sliding mode controller (SMC) has become a popular traditional control method in industries due to the most effective control strategies employing nonlinear control and the ability to reject disturbances, particularly for line trajectory control. However, this control method has chattering problems due to high-frequency switching. To cope with the shortcoming, an artificial intelligence (AI) method is utilized in the traditional SMC to eliminate or reduce this chattering problem. This paper investigates an adaptive fuzzy logic system combined with SMC algorithm to alleviate the problem. Fuzzy logic is chosen due to its advantages in tackling nonlinear properties using if-then thinking, whereas SMC method can be applied due to its ability to reject disturbance control. The inverted pendulum is selected as a controlled object and simulated using MATLAB/Simulink to investigate this control method. By combining the fuzzy logic system and the SMC approach, the chattering problems can be adaptively reduced on the line trajectory tracking signal. The adaptive fuzzy SMC achieved better performance with fast response compared with previous literature algorithms for similar plants.
Rule-based decoupled fuzzy sliding mode control for inverted pendulum swing-up
2004
Abstract In this paper we introduce a novel decoupled fuzzy sliding mode (DFSM) controller for swinging-up an inverted pendulum. In the proposed technique the control objective is decomposed into two sub-tasks: swing-up and stabilization. Accordingly, first a DFSM controller stabilizing the poles is synthesized. Next, a rule-based regulator dealing with the task of entering a stabilization zone is synthesized. Two different structures are proposed for the swing-up controller.
Adaptive Fuzzy Sliding Mode Control for Uncertain Nonlinear Systems
International Journal of Fuzzy Logic and Intelligent Systems, 2011
This paper deals with a new adaptive fuzzy sliding mode controller and its application to an inverted pendulum. We propose a new method of adaptive fuzzy sliding mode control scheme that the fuzzy logic system is used to approximate the unknown system functions in designing the SMC of uncertain nonlinear systems. The controller's construction and its analysis involve sliding modes. The proposed controller consists of two components. Sliding mode component is employed to eliminate the effects of disturbances, while a fuzzy model component equipped with an adaptation mechanism reduces modeling uncertainties by approximating model uncertainties. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum. The results show that both alleviation of chattering and performance are achieved.
2021 18th International Multi-Conference on Systems, Signals & Devices (SSD), 2021
The system behavior of a dual-axis inverted pendulum in the presence of parametric uncertainty could be very challenging from the perspective of control handling. It becomes more challenging in the presence of model uncertainties, external disturbances and chattering phenomenon. In this paper, a sliding mode-based control design is proposed to handle the dynamics, system disturbances and uncertainty effects of an inverted pendulum. This is achieved by: a) approximating the discontinuity in the control law, b) handling the origin of chatter effect by using a continuous function, and c) Euler method with small step size. Simulation results show that the sliding mode controller in the presence of disturbance can eliminate the chattering phenomenon, improve the control precision, and suppress the effects of external disturbance and model uncertainties effectively.
A decoupled fuzzy sliding mode approach to swing-up and stabilize an inverted pendulum
2004
Abstract: 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, ie. 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.
Fuzzy sliding mode control for inverted pendulum swing-up with restricted travel
2001
Abstract Swinging up an inverted pendulum is a common benchmark task for the investigation of automatic control techniques. In this paper we introduce a new Fuzzy Sliding Mode (FSM) technique for swinging-up an inverted pendulum and controlling the connected cart, while minimizing the swing-up time, the cart travel and the required control action.
This paper presents controlling of a class of nonlinear systems with structured and unstructured uncertainties using fuzzy sliding mode control. First known dynamics of the system are eliminated through feedback linearization and then fuzzy sliding mode controller is designed using TS method, based on the Lyapunov method, which is capable of handling uncertainties. There are no signs of the undesired chattering phenomenon in the proposed method. The globally asymptotic stability of the closed-loop system is mathematically proved. Finally, this method of control is applied to the inverted pendulum system as a case study. Simulation results show the system performance is desirable.
Robust Sliding-Mode Control for Inverted Pendulum System
International Journal of Robotics and Control Systems, 2022
The Inverted Pendulum is a highly nonlinear, unstable, and fast dynamic system. These characteristics make it a popular benchmark for building and testing novel controllers. Therefore, in this study, a sliding mode controller is proposed and tested on the inverted pendulum system. According to the results of the simulation experiments with a sine signal as a reference, the proposed controller can stabilize the system well and has so fast response. Moreover, we have tuned the parameters of the proposed sliding mode controller in order to eliminate the chattering effect, the overshoot, and the steadystate error.
Second-order sliding mode control applied to inverted pendulum
14th International Conference on Sciences and Techniques of Automatic Control & Computer Engineering - STA'2013, 2013
In this paper first and second order sliding mode controllers for underactuated manipulators are proposed. Sliding mode control SMC is considered as an effective tool in different studies for control systems. However, the associated chattering phenomenon degrades the system performances. To overcame this phenomenon and to track a desired trajectory a twisting and a super-twisting algorithms are presented. The stability analysis is done using a Lyapunov function for the proposed controllers. Further, 3 different controllers are compared. As an illustration, the example of an inverted pendulum is considered. Simulation results are given to demonstrate the effectiveness of the proposed approaches.