Xuefeng Leng ^*

• Changzhou Vocational Institute of Industry Technology, Changzhou, China

A sliding mode control method based on fuzzy adaptive technology is put forward for general non-linear system control problem with uncertainty. To make the sliding variable not escape from the preset constraint region during the convergence process, the design problem of a fuzzy adaptive second-order sliding mode controller considering the output constraint is deeply discussed by constructing the barrier Lyapunov function (BLF). The Tangent barrier Lyapunov function is designed, and a fuzzy adaptive second-order sliding mode controller is constructed by combining the Tangent barrier Lyapunov function with backstep method. For the inverted pendulum system, a second-order sliding mode controller with limited output is designed. Under the full consideration of the unknown external disturbance, the mathematical modeling and force analysis of the first-order inverted pendulum system are carried out, and the design problem of the fuzzy adaptive second-order sliding mode controller with the output limitation is studied. The results show that the proposed fuzzy adaptive second-order sliding mode controller performs well in inverted pendulum systems. The fuzzy adaptive second-order mode controller stabilizes the sliding variable at 0.1 in 1.25 seconds, while the fuzzy adaptive second-order makes the system state reach equilibrium in 15 seconds. The fuzzy adaptive second-order sliding mode controller achieves 99.2% accuracy and is superior to other methods in balance accuracy and recall rate. The proposed controller not only has high response speed, but also can effectively suppress the system flutter and ensure the rapid stability of the system after constraints. The research method lays the foundation for the design of subsequent fuzzy adaptive sliding mode control algorithms.