Adaptive Fuzzy Sliding Control for Balancing Pendubot

Abstract

In many cases of sliding control, the exact nonlinear functions of dynamic equations are difficult to be obtained. Because of this reason, the uncertainty of nonlinear functions of system can cause bad response under sliding control. In this paper, we suggest an adaptive fuzzy sliding control method which can balance a SIMO system. This method still guarantees the stability of system by Lyapunov criteria. Otherwise, the problem of uncertainty of nonlinear system is solved. The object chosen in this paper is pendubot - a popular model in control laboratory. The success of this method is proved by simulation results.

Keywords

• sliding control
• adaptive fuzzy sliding control
• simo system
• lyapunov
• pendubot