도립 진자의 적응 퍼지 슬라이딩 모드 제어기 실험

Experimental Adaptive Fuzzy Sliding Mode Control of an Inverted Pendulur

This paper proposes the control problem of an inverted pendulum system based on adaptive fuzzy sliding mode. The universal approximating capability, learning ability, adaptation capability and disturbance rejection are collected in one control strategy. The proposed scheme does not require an accurate dynamic model and the joint acceleration measurement, yet it guarantees asymptotic trajectory tracking. Experimental results perform with an inverted pendulum to show the effectiveness of the approach.