Decoupled third-order fuzzy sliding model control for cart-inverted pendulum system
Document Type
Article
Publication Date
1-1-2013
Abstract
Cart Inverted Pendulum (CIP) system is a benchmark problem in nonlinear automatic control. It is commonly used to verify the robustness of any proposed nonlinear controller. CIP is mostly represented by two second order differential equations to avoid complexity due to the DC motor dynamics. This representation is not practical for the real CIP dynamics and might lead to instability. Therefore in this paper, two third-order differential equations were derived to combine the pendulum system and DC motor dynamics to have a more realistic mathematical model. Friction between the cart and rail was included in the system equations through a nonlinear friction model. To stabilize the obtained nonlinear electromechanical CIP model, a third-order Fuzzy Sliding Mode Controller (FSMC) was designed. The chattering of the control signal was eliminated using general bill shape membership functions for the Fuzzy controller. Simulation results proved the robustness of the proposed FSMC over Linear Quadratic Regulator Controller (LQRC). For instant, the overshoot in the cart position response was reduced by 300.
Keywords
Sliding mode control fuzzy controller cart-inverted pendulum system swing-up design stabilization logic
Divisions
fac_eng
Publication Title
Applied Mathematics & Information Sciences
Volume
7
Issue
1
Additional Information
You can e-mail to me for the full text of my jurnal at mohsenegypt@um.edu.my