Neuro-Fuzzy Sliding Mode Control of Inverted Pendulum

Abstract:

In this paper we develop a robust controller based on sliding mode, neural network and fuzzy logic for the control of a class of under-actuated systems. The stability of the proposed controller is proved with the Lyapunov function method. Simulation results are made on an inverted pendulum.

• Periodical: Advanced Materials Research (Volume 711)
• Pages: 432-439
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.711.432
• Online since: June 2013
• Authors: Khedoudja Kherraz, Mustapha Hamerlain, Nouara Achour
• Keywords: Chattering, Inverted Pendulum, Neuro-Fuzzy Control, Sliding Mode Control, Under-Actuated Systems

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