Fuzzy Adaptive Sliding Mode Controller: applied to inverted pendulum

The objectives of our work is to establish a control law based on fuzzy sliding mode (SMC) control by the means of adaptive schema in order to enhance tracking performance for a general class of uncertain nonlinear systems in the presence of external disturbances. The combined method inherits its advantages from SMC to handles system under the presence of external perturbation and from fuzzy logic to reflect system uncertainties and this later is done by adopting the adaptive technique. The stability of the proposed schema was ensured by the lyaponuv's theory. In order to test the performance of adaptive sliding mod control a comparison study with sliding mode control (SMC) on the inverted pendulum system was carried out. The obtained results and the involved comparison affirm that proposed schema was successful to track the desired input with height accuracy and outperform the SMC in term of robustness. (Abstract)