Parallel fuzzy sliding mode control of the cart-pole system

Abstract

In this paper, a control design algorithm for the cart-inverted-pendulum system is developed. The control strategy combines fuzzy logic theory with sliding mode control, called fuzzy sliding mode control, is used to balance a vertical pole straight up and regulate cart position. The dynamic response of the cart-pole is divided into approaching condition and departure condition. According to different operation situations, two parallel fuzzy sliding controllers are constructed. Moreover, the feasibility and robustness of the proposed algorithm can be demonstrated by the computer simulation and experimental results.