• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 2006년도 추계학술대회 학술발표 논문집 제16권 제2호
• /
• pp.323-326
• /
• 2006

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.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 1997년도 추계학술대회 학술발표 논문집
• /
• pp.449-452
• /
• 1997

In this paper, we suggest a variable structure controller using the time-varying nonlinear sliding surface instead of the fixed sliding surface, which has been the robustness against parameter variations and extraneous disturbance during the reaching phase. As appling TS fuzzy algorithm to the regulation of the nonlinear sliding surface, the reaching time of the system trajectory is faster than the fixed method . This proposed scheme has better performance than the conventional method in reaching time parameter variation and extraneous disturbance. To demonstrate its performance, the proposed control algorithm is applied to a rotational inverted pendulum.