An adaptive fuzzy sliding mode controller applied to a chaotic pendulum

TL;DR

This paper presents an adaptive fuzzy sliding mode controller for a chaotic pendulum, combining robustness and adaptability, with proven stability and demonstrated effectiveness through numerical simulations.

Contribution

It introduces a novel adaptive fuzzy sliding mode control approach for chaotic pendulums, enhancing robustness against modeling inaccuracies.

Findings

Proven convergence of the control system using Lyapunov's method.

Numerical results show effective chaos control and system stability.

Enhanced robustness compared to traditional sliding mode controllers.

Abstract

In this work, an intelligent controller is employed to the chaos control problem in a nonlinear pendulum. The adopted approach is based on the sliding mode control strategy and enhanced by an adaptive fuzzy algorithm to cope with modeling inaccuracies. The convergence properties of the closed-loop system are analytically proven using Lyapunov's direct method and Barbalat's lemma. Numerical results are also presented in order to demonstrate the control system performance.