Genetic Algorithm and Particle Swarm Optimization Based Cascade Interval Type 2 Fuzzy PD Controller for Rotary Inverted Pendulum System
Joint Authors
Choudhury, I. A.
Hamza, Mukhtar Fatihu
Yap, Hwa Jen
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-06-18
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
This paper presents the design of an optimized Interval Type 2 Fuzzy Proportional Derivative Controller (IT2F-PDC) in cascade form for Rotary Inverted Pendulum (RIP) system.
The parameters of the IT2F-PDC are optimised by using Genetic Algorithm (GA) and Particle Swarm Optimization (PSO).
The goal is to balance the pendulum in upright unstable equilibrium position.
The IT2F-PDC which is the extendedversion of conventional type 1 fuzzy logic controller,improves the control strategy by using the advantageof its footprint of uncertainty for the fuzzy membershipfunction.
The performance characteristics considered for the controller are steady state error, settling time, rise time, maximum overshoot, and control energy.
Experimental and simulation results indicated that the effectiveness and robustness of the proposed GA- and PSO-based controllers on the RIP with respect to load disturbances, parameter variation, and noise effects have been improved over state-of-the-art method.
However, the comparative results for simulation and experiment based on cascade IT2F-PDC indicate that GA-based IT2F-PDC has lower steady state error while PSO-based IT2F-PDC has lower overshoot, settling time, and control energy, but both have almost the same rise time.
The proposed control strategy can be regarded as a promising strategy for controlling different unstable and nonlinear systems.
American Psychological Association (APA)
Hamza, Mukhtar Fatihu& Yap, Hwa Jen& Choudhury, I. A.. 2015. Genetic Algorithm and Particle Swarm Optimization Based Cascade Interval Type 2 Fuzzy PD Controller for Rotary Inverted Pendulum System. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-15.
https://search.emarefa.net/detail/BIM-1074490
Modern Language Association (MLA)
Hamza, Mukhtar Fatihu…[et al.]. Genetic Algorithm and Particle Swarm Optimization Based Cascade Interval Type 2 Fuzzy PD Controller for Rotary Inverted Pendulum System. Mathematical Problems in Engineering No. 2015 (2015), pp.1-15.
https://search.emarefa.net/detail/BIM-1074490
American Medical Association (AMA)
Hamza, Mukhtar Fatihu& Yap, Hwa Jen& Choudhury, I. A.. Genetic Algorithm and Particle Swarm Optimization Based Cascade Interval Type 2 Fuzzy PD Controller for Rotary Inverted Pendulum System. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-15.
https://search.emarefa.net/detail/BIM-1074490
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1074490