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Adaptive fuzzy fast terminal sliding mode control for inverted pendulum-cart system with actuator faults

Author

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  • Zeghlache, Samir
  • Ghellab, Mohammed Zinelaabidine
  • Djerioui, Ali
  • Bouderah, Brahim
  • Benkhoris, Mohamed Fouad

Abstract

In this work, the adaptive fuzzy fast terminal sliding mode control (AFFTSMC) is used to create a robust fault-tolerant control system for the care and swing-up control problem of the inverted pendulum-cart system is developed in the presence of actuator faults and external disturbances. The proposed controller has the benefit of the fast terminal sliding mode control (FTSMC) method to guarantee faults and uncertainties compensation, small tracking error, chattering phenomenon reduction, and fast transient response. To compensate for the uncertainties and actuator faults effects that can happen in practical tasks of an inverted pendulum-cart system, a new adaptive FTSMC method is proposed, where the prior knowledge of external perturbation and uncertainties is not required. In addition, the developed controller reduces the chattering phenomenon without disappearing the tracking precision and robustness property. Stability demonstration has been effectuated utilizing Lyapunov method. Practical results prove the efficiency of the suggested control algorithm.

Suggested Citation

  • Zeghlache, Samir & Ghellab, Mohammed Zinelaabidine & Djerioui, Ali & Bouderah, Brahim & Benkhoris, Mohamed Fouad, 2023. "Adaptive fuzzy fast terminal sliding mode control for inverted pendulum-cart system with actuator faults," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 210(C), pages 207-234.
    • Handle: RePEc:eee:matcom:v:210:y:2023:i:c:p:207-234
    DOI: 10.1016/j.matcom.2023.03.005
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    References listed on IDEAS

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    1. Hadipour Lakmesari, S. & Mahmoodabadi, M.J. & Yousef Ibrahim, M., 2021. "Fuzzy logic and gradient descent-based optimal adaptive robust controller with inverted pendulum verification," Chaos, Solitons & Fractals, Elsevier, vol. 151(C).
    2. Pérez-Polo, Manuel F. & Pérez Molina, Manuel & Gil Chica, Javier & Berna Galiano, José A., 2014. "Stability and chaotic behavior of a PID controlled inverted pendulum subjected to harmonic base excitations by using the normal form theory," Applied Mathematics and Computation, Elsevier, vol. 232(C), pages 698-718.
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    Cited by:

    1. Zhang, Jianyu & Wang, Yingying & Yang, Songwei & Li, Jiaojiao & Qu, Hao, 2024. "A design of fuzzy sliding mode control for Markovian jumping system with different input matrices," Applied Mathematics and Computation, Elsevier, vol. 463(C).

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