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

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.