Adaptive Fast Terminal Sliding Mode Control for Inverted Pendulum on Cart

Tóm tắt

This paper presents an innovative control strategy, the Adaptive Fast Terminal Sliding Mode Control (AFTSMC), designed for the stability control of an inverted pendulum on a cart. The proposed controller aims to stabilize the system within a finite time, leveraging the advantages of fast terminal sliding mode techniques. The system’s dynamic model is employed to derive the controller, utilizing an adaptive approach to accommodate uncertainties and disturbances. Simulations are conducted to validate the proposed AFTSMC, comparing its performance with an Adaptive Sliding Mode Controller under various scenarios. The results demonstrate the efficacy of the AFTSMC in achieving stable and precise control, making it a promising solution for the challenging dynamics of inverted pendulum systems.