Research on the adaptive fuzzy sliding mode control method of inverted pendulum system

Use the fuzzy sliding mode controller as design principles and the inverted pendulum as the control object. At first, create an inverted pendulum model. Then, extract the dynamic model of the angle of inverted pendulum, The use of linear feedback to design a sliding mode controller makes the system is robust in response to the whole process, and overcome the shortcomings of robustness about arrival mode in the traditional variable structure control. For such nonlinear systems, we propose a new a design method about adaptive fuzzy controller. Simulation results have shown that the method was successfully implemented on the position servo control of input signal, and verified that fuzzy sliding mode has fast performance and better stability compared with traditional methods. It also undermined the occurrence of chattering and has realize the real-time tracking.