Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/44432
標題: Fuzzy hierarchical swing-up and sliding position controller for the inverted pendulum-cart system
作者: Tao, C.W.
陶金旭
Taur, J.S.
Wang, C.M.
Chen, U.S.
關鍵字: fuzzy control
hierarchical structure
fuzzy sliding mode control
adaptive mechanism
time-varying uncertainties
variable-structure systems
nonlinear-systems
mode controller
linear-systems
hybrid-control
design
stabilization
stability
期刊/報告no:: Fuzzy Sets and Systems, Volume 159, Issue 20, Page(s) 2763-2784.
摘要: In this paper, a fuzzy hierarchical swing-up and sliding position controller is proposed for the swing-up and position controls of an inverted pendulum-cart system. The proposed fuzzy hierarchical swing-up and sliding position controller includes a fuzzy switching controller, a fuzzy swing-up controller, and a twin-fuzzy-sliding-position controller. The fuzzy switching controller is designed to smoothly switch between the swing-up and position controls. With the inverted pendulum-cart system decomposed into a pendulum subsystem and a cart subsystem, fuzzy sliding position controllers are presented to robustly balance the pendulum and cart at the desired positions. The sliding mode and stability of the fuzzy sliding position control systems are guaranteed. Moreover, an adaptive mechanism is provided to on-line adjust the parameters in the fuzzy sliding position controllers. Simulation results are included to illustrate the effectiveness of the proposed fuzzy hierarchical swing-up and sliding position controller. (C) 2008 Elsevier B.V. All rights reserved.
URI: http://hdl.handle.net/11455/44432
ISSN: 0165-0114
文章連結: http://dx.doi.org/10.1016/j.fss.2008.02.005
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