Stabilization of nonlinear inverted pendulum system using MOGA and APSO tuned nonlinear PID controller

Valluru, Sudarshan K.; Singh, Madhusudan

doi:10.1080/23311916.2017.1357314

Cited by 20 publications

(7 citation statements)

References 29 publications

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“…The input variable of the system is the applied force 𝑢 = 𝐻, and the output of the system is the angular position as 𝑦 = 𝑥 1 . According to [49], the nonlinear model of an inverted pendulum system can be written as…”

Section: A Modeling An Inverted Pendulummentioning

confidence: 99%

Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty

Ma’arif

Márquez-Vera²,

Mahmoud³

et al. 2021

Journal of Robotics and Control

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The inverted pendulum system is highly popular in control system applications and has the characteristics of unstable, nonlinear, and fast dynamics. A nonlinear controller is needed to control a system with these characteristics. In addition, there are disturbances and parameter uncertainty issues to be solved in the inverted pendulum system. Therefore, this study uses a nonlinear controller, which is the backstepping sliding mode control. The controller is robust to parameter uncertainty and disturbances so that it is suitable for controlling an inverted pendulum system. Based on testing with step and sine reference signals without interference, the controller can stabilize the system well and has a fast response. In testing with disturbances and mass uncertainty, the backstepping sliding mode controller is robust against these changes and able to make the system reach the reference value. Compared with sliding mode control, backstepping sliding mode control has a better and more robust response to disturbances and parameter uncertainty.

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Section: A Modeling An Inverted Pendulummentioning

confidence: 99%

Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty

Ma’arif

Márquez-Vera²,

Mahmoud³

et al. 2021

Journal of Robotics and Control

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“…However, the reference input may not be differentiable or discontinuous and the actual output may be disturbed by noise for the specific problems. It will cause the contradiction between overshoot and the faster response of the PID control in the closed-loop system (Han, 1994;Valluru and Singh, 2017). This paper adopts the nonlinear PID controller by introducing a nonlinear PID module (Su et al, 2005), which is shown as: As shown in Figure 11, it is the principle block diagram of the control law of the nonlinear PID controller (Valluru and Singh, 2017).…”

Section: Nonlinear Pid Active Control Of Dielectric Elastomer Balloon...mentioning

confidence: 99%

Section: Nonlinear Pid Active Control Of Dielectric Elastomer Balloon...mentioning

confidence: 99%

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Nonlinear dynamic behaviors and PID control of viscoelastic dielectric elastomer balloons

Xing

Yong

2021

Journal of Intelligent Material Systems and Structures

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As a type of intelligent electroactive polymer, dielectric elastomer (DE) exhibits viscoelastic properties. It’s worth pointing out that the relaxation time has great significance for studying the mechanical behavior of viscoelastic polymer. In this paper, a generalized Maxwell model is used to describe the viscoelastic property of dielectric elastomer balloon. Meanwhile, a theoretical model with multiple relaxation times is used and the natural frequency of small amplitude oscillation is derived. Subsequently, the model is validated by comparing with experimental results. The model with double relaxation times can describe the deformation of the dielectric elastomer balloon effectively. Then the effect of relaxation time and shear modulus on the dynamic response of DE balloon is studied. Furthermore, the dielectric elastomer balloons in practical application exhibit the strong nonlinearity and the viscoelastic dissipation. Therefore, it is important to precisely control the dynamic response. The proportional-integral-differential (PID) controller in the form of nonlinear combination is adopted to control the above nonlinear dynamic systems actively. The results indicate that it is feasible to achieve desired control effect.

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“…37 Instead of employing search algorithms for the optimum weight pairs, gradient descent algorithm can be used, 38,39 which is efficient and relatively faster for online updating of the weights. 40 Valluru and Singh 41 tuned PID by a MOGA and adaptive particle swarm optimization (APSO) algorithm for the inverted pendulum. Keeping in mind the drawbacks of the above-discussed control techniques, in this article, an adaptive control logic is proposed for stabilization of CIPS.…”

Section: Introductionmentioning

confidence: 99%

Design and implementation of adaptive control logic for cart-inverted pendulum system

Hanwate

Hote

Budhraja

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this article, an adaptive control logic is proposed to serve as a supervisory control system sufficient to curb the adverse effects due to modelling uncertainties and external disturbances. The control logic belongs to the class of adaptive control methodologies. The attractive attribute of this technique is that only the superior features of each individual candidate controller are obtained by applying appropriate weight to these controllers. In order to prove its effectiveness and applicability, the benchmark problem for stabilization of cart-inverted pendulum system is carried out using this technique. The system performance is tried against that with each individual candidate controllers existing techniques. In addition, the simulation-based analysis is strengthened by analysing the performance of a real-time cart-inverted pendulum system setup, stabilized using the proposed control logic.

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Stabilization of nonlinear inverted pendulum system using MOGA and APSO tuned nonlinear PID controller

Cited by 20 publications

References 29 publications

Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty

Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty

Nonlinear dynamic behaviors and PID control of viscoelastic dielectric elastomer balloons

Design and implementation of adaptive control logic for cart-inverted pendulum system

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