Application of Fuzzy Algorithm in Optimizing Hierarchical Sliding Mode Control for Pendubot System

Abstract

Pendubot is a classical under-actuated SIMO model for control algorithm testing in laboratory of universities. In this paper, authors design a fuzzy-sliding control for this system. The controller is designed from a new idea of application of fuzzy algorithm for optioning control parameters. The response of system on TOP position under fuzzysliding control algorithm is proved to be better than under sliding controller through Matlab/Simulink simulation.

Keywords

• sliding control
• pendubot
• fuzzy algorithm
• top position
• fuzzy-sliding control
• under-actuated system
• simo system