Design of Fuzzy Sliding Controller Based on Cerebellar Learning Model

As to the control of fuzzy sliding mode, this paper proposes a cerebellar learning model for on-line learning of the controller. Fuzzy sliding mode has excellent robustness to the system uncertainty and immunity to the noise of the external noise. As for the cerebellar learning mode, it possesses the advantages of easy and fast correction. The combination of the two leads to the design of a fuzzy sliding mode controller with self-learning capability to improve the short-comings of difficulties in setting up the regulations of fuzzy control. It also improves the system stability and enhances the effectiveness of the controller.This paper describes the implementation of a fuzzy sliding controller with cerebellar learning mode. After system simulation and capability test, it is applied to the control of slew-up, stand-on and positioning of a 360 ° inverted pendulum.