Comparison of various fuzzy sliding mode based controller on single link inverted pendulum

Abstract

The present work represents the implementation of the various fuzzy controller with robust sliding mode control (SMC) technique on a nonlinear system considering various external disturbances and model uncertainties. The nonlinear system considered here is a single link inverted pendulum. The proposed work combines the advantages of the sliding mode controlling technique and fuzzy logic controller. A set of linguistic rules are designed in fuzzy logic control, which causes the system to be chattering free. Parameters of the nonlinear system are adjusted according to fuzzy adaptive laws, while the uncertainties of the nonlinear system have been approximated using a fuzzy system. Various types of controller based on fuzzy sliding mode, like approximation based sliding mode control technique; equivalent control based fuzzy sliding mode technique, and switch-gain regulation based sliding mode control methods have been implemented here. A comparative analysis of various methods is also have been discussed.