Adaptive fuzzy sliding mode control of the cart-pole underactuated system



: Bessa, Wallace M.; Kreuzer, Edwin

: Joint 87th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM) and Deutsche Mathematiker‐Vereinigung (DMV)

: 2016

: Proceedings in Applied Mathematics and Mechanics

DOI: https://doi.org/10.1002/pamm.201610388

: https://onlinelibrary.wiley.com/doi/10.1002/pamm.201610388


In this work, an intelligent control scheme is proposed for the stabilization of the cart-pole underactuated system. The adopted approach is primarily based on a smooth sliding mode controller, but an adaptive fuzzy inference system is embedded within the boundary layer in order to improve the control performance.


Last updated on 14/11/2025 03:15:33 PM