A Novel Adaptive Fuzzy Control of the Inverted Pendulum System

A new adaptive fuzzy control algorithm which combines sliding mode controller and a proportional-integral controller into a single adaptive fuzzy sliding mode controller (AFSMC) is proposed for a nonlinear system - an inverted pendulum system. The AFSMC can tackle the control problem of unknown nonlinear systems and systems with modeling uncertainties and external disturbance. The role of the controller is to schedule control under different operating conditions. In this way, the advantage of each control method before combining can be retained while any disadvantages are removed. The proposed control scheme provides good transient and robust performance. Moreover, the drawback of chattering phenomenon in SMC can be avoided. The AFSMC scheme is proved to guarantee the global stability of the closed-loop system.