적응 퍼지 슬라이딩 모드 제어를 이용한 도립진자의 제어

Control of Inverted Pendulum using Adaptive Fuzzy Sliding Mode Control

In this paper to overcome drawback of FLC an adaptive fuzzy sliding mode controller is proposed. The fuzzy basis function to describe the fuzzy system is introduced. The system parameter in sliding mode are estimated by the indirect adaptive fuzzy control. Adaptive laws for fuzzy parameters and fuzzy rule structure are established so that the whole system is suable in the sense of Lyapunov stability. The computer simulation results for inverted pendulum system show the performance of the proposed fuzzy sliding mode controller.