Stabilizing and Trajectory Tracking of Inverted Pendulum Based on Fractional Order PID Control

Patra, Akshaya Kumar; Mishra, Alok Kumar; Nanda, Anuja; Subudhi, Dillip Kumar; Agrawal, Ramachandra; Patra, Abhishek

doi:10.1007/978-981-15-2774-6_41

Cited by 13 publications

(2 citation statements)

References 18 publications

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“…Rigatos et al (2020) investigated a nonlinear optimal control scheme to balance and control the position and speed of a wheeled inverted pendulum system. Patra et al (2020) designed a fractional-order proportional-integralderivative controller for the inverted pendulum to stabilize the cart position and the pole angle. Tang et al (2020) employed the proportional-integral-derivative compensator subject to a linear quadratic regulator to control a rotary inverted pendulum model.…”

Section: Introductionmentioning

confidence: 99%

Optimal design of an adaptive robust controller using a multi-objective artificial bee colony algorithm for an inverted pendulum system

Mahmoodabadi

Lakmesari

2022

Trans. Can. Soc. Mech. Eng.

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In this paper, a multi-objective artificial bee colony (MOABC) optimization algorithm is utilized to improve the performance of an adaptive robust control technique. This approach is implemented on an inverted pendulum system. More precisely, the proposed controller is a combination of a decoupled sliding mode controller (DSMC) and adaption laws based on the gradient descent approach. In order to achieve the optimum control operation, the MOABC, as a novel meta-heuristic method simulated from the smart foraging activity of honey bee groups, is employed to optimize the coefficients of the suggested controller. In this regard, the objective functions are determined as the integral time of the absolute value of the pole angle and cart position errors. Finally, the time responses of the system states and control effort are presented to prove the effectiveness and feasibility of the suggested strategy compared to other contemporary studies referenced in the paper.

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Section: Introductionmentioning

confidence: 99%

Optimal design of an adaptive robust controller using a multi-objective artificial bee colony algorithm for an inverted pendulum system

Mahmoodabadi

Lakmesari

2022

Trans. Can. Soc. Mech. Eng.

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“…PID controllers are widely used in industrial applications and provide an effective control performance for the systems having dominant linear characteristics [1][2][3][4]. However, performances of linear PID controllers reduce as the nonlinear characteristics and the order of dynamical systems increase.…”

Section: Introductionmentioning

confidence: 99%

Bulanık Bilişsel Harita Tabanlı PID Kontrolör Tasarımı

Denizci¹,

Ulu²

2020

European Journal of Science and Technology

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Linear proportional-integral-derivative (PID) controllers are the most widely used process controllers in industrial applications due to their simple structures and effective performances. However, performances of these controllers reduce as the nonlinear characteristics or the system orders of the industrial processes increases. Therefore, various nonlinear PID controller models are proposed in literature to improve the control performances of linear PID controllers. In this study, a new nonlinear PID controller design approach is proposed based on the fuzzy cognitive map (FCM) method. Two different FCM based PID controller models are introduced. The first controller model is in the conventional parallel PID structure with three inputs as the error, the derivative of the error, and the integral of the error. On the other hand, the second controller model is in the conventional fuzzy PID form with two inputs as the error and the derivative of the error. In the proposed method, each input signal is firstly fuzzified by using a membership function. Then, causal relationships between inputs and the output are determined by using weight parameters. Finally, the FCM inference is performed by using an activation function. Therefore, the proposed nonlinear PID controllers have four and six tuning parameters, respectively. Simulation studies are performed on a fourth order linear system in order to evaluate the performance of the proposed FCM based PID controller models. The performances of these controller models are compared with a conventional PID controller and a fuzzy PID controller. The comparison results show that the proposed FCM based PID controller models outperform the conventional PID and fuzzy PID controllers.

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Event-Triggered Fractional-Order PID Control of Fractional-Order Networked Control System

Mishra

Pati

Appasani

et al. 2021

Advances in Power Systems and Energy Management

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Stabilizing and Trajectory Tracking of Inverted Pendulum Based on Fractional Order PID Control

Cited by 13 publications

References 18 publications

Optimal design of an adaptive robust controller using a multi-objective artificial bee colony algorithm for an inverted pendulum system

Optimal design of an adaptive robust controller using a multi-objective artificial bee colony algorithm for an inverted pendulum system

Bulanık Bilişsel Harita Tabanlı PID Kontrolör Tasarımı

Event-Triggered Fractional-Order PID Control of Fractional-Order Networked Control System

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