Adaptive TSK Fuzzy Terminal Sliding-Mode Control of Two Coupled Cart-Mounted Inverted Pendulums

Inverted pendulum and its variants, including two connected inverted pendulum on carts (TCIPC), are suitable benchmarks to study various control methods of underactuated systems. This work will use an adaptive fuzzy terminal sliding mode controller (AFTSMC) to investigate the stabilization problem of the TCIPC system. First, two finite-time sliding manifolds are proposed, and then a controller law is designed to drive the system states to the manifolds within a finite time, assuring the whole process to be finite-time. A Sugeno (TSK) type fuzzy controller is employed to address the chattering problem of the sliding mode controller. Simulation results show that the proposed AFTSMC method effectively stabilizes the error states and mitigates the chattering.