Extension of the Adaptive Fuzzy Sliding Mode Control (AFSMC) Algorithm with an Approach to Improving Control Performance an‎d Its Construction an‎d Implementation on the Inverted Pendulum on Cart with High Nonlinear Friction

10/22/2025 12:00:00 AM

The Inverted Pendulum on a Cart (IPC) system represents one of the fundamental challenges in nonlinear control engineering due to its underactuated nature, nonlinear dynamics, coupling between degrees of freedom, an‎d significant nonlinear friction. Given its inherent instability an‎d high sensitivity to disturbances, this system requires a controller design that simultaneously ensures stability, accuracy, an‎d robustness against uncertainties. In this research, an Adaptive-Fuzzy Sliding Mode Controller (AFSMC) is developed an‎d implemented for the IPC system with high nonlinear friction. By integrating the advantages of sliding mode control for stability guarantee, fuzzy logic for approximating uncertain system components, an‎d an adaptive mechanism for online parameter adjustment, this algorithm effectively mitigates chattering, compensates for bounded external disturbances, an‎d manages parametric variations. The following innovations are introduced to enhance AFSMC performance: 1) design of a novel sliding surface (VPERRL) enabling faster convergence an‎d reduced oscillations, 2) implementation of the Shokouhi-Markazi sign function approximation to suppress unwanted control chattering, an‎d 3) utilization of empirical friction estimation for real-time correction of control input forces. The performance of the proposed controller is eva‎luated through both simulations an‎d experimental implementations. Results demonstrate that the developed AFSMC+VPERRL framework achieves superior stability an‎d accuracy compared to conventional SMC an‎d AFSMC controllers. Key improvements include appropriate settling time reduction, minimized overshoot, an‎d reduced steady-state error under various operational conditions an‎d sensor noise. This study establishes that the developed AFSMC method provides a practical an‎d reliable framework for controlling complex underactuated systems with nonlinear dynamics an‎d significant friction, potentially serving as a foundation for hybrid adaptive-fuzzy-sliding mode control strategies in industrial an‎d research applications.

كنترل تطبيقي فازي مود لغزشي , كنترل مود لغزشي , سطح لغزشي , تابع تقريب علامت شكوهي - مركزي , آونگ وارون روي ارابه , آونگ معكوس روي ارابه , پاندول معكوس روي گاري , اصطكاك غيرخطي , كنترل غيرخطي

Adaptive Fuzzy Sliding Mode Controller (AFSMC) , Sliding Mode Control (SMC) , Inverted Pendulum on a Cart (IPC) , VPERRL Sliding Surface , Sign Approximation Function , Nonlinear Friction , Nonlinear control

Farbood Shokouhi Sabet Jalali

Amir Hossein Davaie Markazi