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

Tzuu Hseng S. Li, Ming Yuan Shieh

Research output: Contribution to journalArticlepeer-review

56 Citations (Scopus)


The theme for a switching-type fuzzy sliding mode controller for the cart-pole system is developed in this paper. The control strategy is to make a vertical pole straight up and regulate the position of cart simultaneously. This system is nonlinear, unstable and nonminimum phase in consideration of these two control purposes; the conventional control algorithms are difficult 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 dynamic response of the cart-pole system into approaching and departure conditions. Then the cart can be directed to the desired location with a balanced pole by switching two types of fuzzy sliding mode controllers. The feasibility and robustness of the proposed algorithm are demonstrated by computer simulations and actual experimental results.

Original languageEnglish
Pages (from-to)91-109
Number of pages19
Issue number1-2
Publication statusPublished - 2000

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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