DESIGN OF AN INVERTED PENDULUM CONTROLLER USING A MAMDANI TYPE-2 FUZZY SLIDING MODE CONTROLLER

Abstract

Inverted pendulum, specifically the rotary inverted pendulum, is one of the
classical nonlinear systems widely employed for testing the quality of both
traditional and modern control methods. This study focuses on a combined
approach integrating a sliding mode controller and a Mamdani type-2 fuzzy
controller to stabilize the rotary inverted pendulum. After implementing this
combined control strategy and conducting simulations, we proceeded with result
analysis. The selected sliding mode controller demonstrated robust handling
capabilities for uncertain nonlinear systems. Particularly, when combined with
the fuzzy controller, the system effectively mitigates the common drawback of
chattering, often observed in sliding mode controllers. The research findings
confirm its superiority over the T1FSMC (Type-1 Fuzzy Sliding Mode Controller) in
controlling the rotary inverted pendulum. This contribution enhances our
understanding of the practical applications of advanced control methods and their
potential for widespread implementation in real-world scenarios.