Switching-type fuzzy sliding mode control of a cart-pole system

The theme for a switching-type fuzzy sliding mode controller for the cart-p ole system is developed in this paper. The control strategy is to make a ve rtical pole straight up and regulate the position of cart simultaneously. T his system is nonlinear, unstable and nonminimum phase in consideration of these two control purposes; the conventional control algorithms are difficu lt to solve such a problem because only one control input can be utilized. By taking the experience of balancing a pole by a finger, we divide the dyn amic response of the cart-pole system into approaching and departure condit ions. Then the cart can be directed to the desired location with a balanced pole by switching two types of fuzzy sliding mode controllers. The feasibi lity and robustness of the proposed algorithm are demonstrated by computer simulations and actual experimental results. (C) 1999 Elsevier Science Ltd. All rights reserved.