Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1998.07b
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- Pages.480-482
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- 1998
The Control of an Inverted Pendulum using Fuzzy-Sliding Control
퍼지 슬라이딩 제어를 이용한 도립 진자 제어
- Jang, Byeong-Hun (Kwang Woon Univ.) ;
- Ko, Jae-Ho (Kwang Woon Univ.) ;
- Bae, Young-Chul (Yosu Univ.) ;
- Yim, Wha-Yeong (Kwang Woon Univ.)
- Published : 1998.07.20
Abstract
Sliding mode is a robust control method and can be applied in the presence of model uncertainties and parameter disturbances. This study shows that the proposed fuzzy sliding mode control could reduce chattering problemed in sliding mode control. In this paper, an inverted pendulum is effectively controlled by the fuzzy sliding control technique. To reduce movable region of the inverted pendulum body, the angle and its integrated quantity are applied to the controller. The effectiveness of result is shown by the simulation and the experimental test for the inverted pendulum.
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