On-line tuning sliding mode controller design for nonlinear inverted pendulum system based on bees algorithm

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.