Adaptive Fuzzy Finite-time Control for Switched Nonlinear Inverted Pendulum Systems

This paper addresses the adaptive fuzzy finitetime control problem for switched nonlinear inverted pendulum systems. The considered inverted pendulum systems are switched model between different springs with under actuated and strongly coupled characteristics. A finite-time controller is constructed by using adding one power integrator technique, adaptive fuzzy control method and backstepping scheme. The proposed control approach is capable of ensuring the semi-global practical finite-time stability for the specific mechanical systems.