On-line tuning sliding mode controller design for nonlinear inverted pendulum system based on bees algorithm
Joint Authors
Abd al-Karim, Ahmad Ibrahim
Daghir, Khulud Iskandar
Source
Engineering and Technology Journal
Issue
Vol. 34, Issue 8A (31 Aug. 2016), pp.1575-1587, 13 p.
Publisher
Publication Date
2016-08-31
Country of Publication
Iraq
No. of Pages
13
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
This paper proposes a modified swing control for a nonlinear inverted pendulum system by utilizing the sliding mode controller based on the on-line tuning Bees algorithm as speed of optimization and accuracy of results.
The goal of the proposed nonlinear controller is to obtain the optimal force control action for the pendulum cart in order to stabilize the pendulum in the inverted position precisely and quickly.
The optimal parameters of the nonlinear controller are on-line tuned by Bees algorithm and guided by Lyapunov stability criterion to reduce the amplitude of the sliding mode signum function in order to eliminate the chattering phenomena and make the smoothness control action.
Matlab simulation results confirm the validity of the proposed controller algorithm in terms of fast dynamic response, minimizing the pendulum’s angle tracking error to the zero radian at 2.5 second and obtaining the optimal and smooth force control action without saturation state, with the minimum number of fitness evaluation of the algorithm.
American Psychological Association (APA)
Daghir, Khulud Iskandar& Abd al-Karim, Ahmad Ibrahim. 2016. On-line tuning sliding mode controller design for nonlinear inverted pendulum system based on bees algorithm. Engineering and Technology Journal،Vol. 34, no. 8A, pp.1575-1587.
https://search.emarefa.net/detail/BIM-706753
Modern Language Association (MLA)
Daghir, Khulud Iskandar& Abd al-Karim, Ahmad Ibrahim. On-line tuning sliding mode controller design for nonlinear inverted pendulum system based on bees algorithm. Engineering and Technology Journal Vol. 34, no. 8A (Aug. 2016), pp.1575-1587.
https://search.emarefa.net/detail/BIM-706753
American Medical Association (AMA)
Daghir, Khulud Iskandar& Abd al-Karim, Ahmad Ibrahim. On-line tuning sliding mode controller design for nonlinear inverted pendulum system based on bees algorithm. Engineering and Technology Journal. 2016. Vol. 34, no. 8A, pp.1575-1587.
https://search.emarefa.net/detail/BIM-706753
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 1586-1587
Record ID
BIM-706753