The Research Based On Fuzzy Sliding Mode Control For Inverted Pendulum

The sliding mode variable structure control (SMVSC) already becomes a relative independence research branch on account of its excellent robustness and complete adaptability to the uncertainties and external disturbance. In the recent years, with the development of many advanced control theories, such as adaptive control, fuzzy control, NN etc, the theory of SMVSC has also developed rapidly.Considering the current of the developed sliding mode variable structure control theory and the requirements for the practice, this paper proposes a method which using fuzzy logic to reduce the system's chattering. The SMVSC strategy based on fuzzy logic is presented to control the single inverted pendulum system and the double inverted pendulum system. By introducing fuzzy logic to the SMVSC, the quality is improved and the system's chattering is solved. The computer simulation results verify the validity of the SMVSC method based on fuzzy logic. The main contents of this paper are as follows:The SMVSC based on reaching law is presented to deal with the single inverted pendulum system. And by introducing saturation function to the SMVSC based on reaching law, the system's chattering is solved. The results of simulation show this method is efficacious.The SMVSC strategy based on fuzzy reaching law is presented to control the single inverted pendulum system, The results of simulation show the quality is improved, the system's chattering is solved and the method of using fuzzy system is better than the method of using saturation function.The double inverted pendulum system is successfully balanced by the SMVSC based on reaching law, the SMVSC based on reaching law of by introducing saturation function and the SMVSC based on fuzzy reaching law. The advantages of the SMVSC based on fuzzy reaching law is pointed out.