Decentralized decoupled sliding-mode control for two-dimensional inverted pendulum using neuro-fuzzy modeling

In this paper, a new method has been proposed to control a two-dimensional inverted pendulum. The proposed method in this paper is as follows: First, the system of a two-dimensional inverted pendulum is divided into two subsystems using decentralized control theory. Then, using decoupling method, each subsystem is decoupled into two surfaces for applying sliding-mode control. Those portions of the controllers, which are directly dependent on the dynamic of the system and its parameters, are modeled with two neuro-fuzzy (ANFIS) networks. Simulations show a high performance for the proposed method as compared to the existing methods. Copyright (C) 2001 IFAC.