한국지능시스템학회:학술대회논문집 (Proceedings of the Korean Institute of Intelligent Systems Conference)
- 한국퍼지및지능시스템학회 2006년도 추계학술대회 학술발표 논문집 제16권 제2호
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- Pages.323-326
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- 2006
A Fuzzy Sliding Mode Control for Rotational Inverted Pendulum
- Bin, Zheng (Department of Electronic Engineering) ;
- Lee, Dae-Sik (Daegu University)
- 발행 : 2006.11.17
초록
Rotational inverted pendulum is a typical under-actuated system. For its highly nonlinear characteristic, a sliding mode controller is chosen for its robustness against the system uncertainties. Tow fuzzy inference mechanisms are applied in this paper to reduce the chattering phenomenon. One is proposed to construct a time-varying sliding surface. Another one is used to obtain the minimum upper bound of the uncertainties. A comparison between the conventional sliding mode and the fuzzy sliding mode is shown by simulations.