Adaptive fuzzy fast terminal sliding mode control for inverted pendulum-cart system with actuator faults

In this work, the adaptive fuzzy fast terminal sliding mode control (AFFTSMC) is used to create a robust fault-tolerant control system for the care and swing-up control problem of the inverted pendulum-cart system is developed in the presence of actuator faults and external disturbances. The proposed controller has the benefit of the fast terminal sliding mode control (FTSMC) method to guarantee faults and uncertainties compensation, small tracking error, chattering phenomenon reduction, and fast transient response. To compensate for the uncertainties and actuator faults effects that can happen in practical tasks of an inverted pendulum-cart system, a new adaptive FTSMC method is proposed, where the prior knowledge of external perturbation and uncertainties is not required. In addition, the developed controller reduces the chattering phenomenon without disappearing the tracking precision and robustness property. Stability demonstration has been effectuated utilizing Lyapunov method. Practical results prove the efficiency of the suggested control algorithm.(c) 2023 International Association for Mathematics and Computers in Simulation (IMACS). Published by Elsevier B.V. All rights reserved.

Automated summary

In this work, an adaptive fuzzy fast terminal sliding mode control (AFFTSMC) is developed for the inverted pendulum-cart system with actuator faults and external disturbances. The proposed controller combines the benefits of the fast terminal sliding mode control (FTSMC) method to compensate faults and uncertainties, reduce tracking error and chattering phenomenon, and achieve fast transient response. It also introduces a new adaptive FTSMC method to handle uncertainties and actuator faults without prior knowledge of external perturbation. The developed controller maintains tracking precision and robustness while reducing chattering phenomenon. Stability is demonstrated using the Lyapunov method, and practical results validate the efficiency of the control algorithm.