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The Control of an Inverted Pendulum using Fuzzy-Sliding Control

  • 장병훈 (광운 대학교 제어계측공학과) ;
  • 고재호 (광운 대학교 제어계측공학과) ;
  • 배영철 (여수대학교 전기공학과) ;
  • 임화영 (광운 대학교 제어계측공학과)
  • 발행 : 1998.07.20

초록

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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