Development of a swing-tracking sliding mode controller design for nonlinear inverted pendulum system via bees-slice genetic algorithm
Author
al-Araji, Ahmad Sabah Abd al-Amir
Source
Engineering and Technology Journal
Issue
Vol. 34, Issue 15A (31 Dec. 2016), pp.2897-2910, 14 p.
Publisher
Publication Date
2016-12-31
Country of Publication
Iraq
No. of Pages
14
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
A new development of a swing-tracking control algorithm for nonlinear inverted pendulum system presents in this paper.
Sliding mode control technique is used and guided by Lyapunov stability criterion and tuned by Bees-slice genetic algorithm (BSGA).
The main purposes of the proposed nonlinear swing-tracking controller is to find the best force control action for the real inverted pendulum model in order to stabilize the pendulum in the inverted position precisely and quickly.
The Bees-slice genetic algorithm (BSGA) is carried out as a stable and robust on-line auto-tune algorithm to find and tune the parameters for the sliding mode controller.
Sigmoid function is used as signum function for sliding mode in order to eliminate the chattering effect of the fast switching surface by reducing the amplitude of the function output.
MATLAB simulation results and LabVIEW experimental work are confirmed the performance of the proposed tuning swing-tracking control algorithm in terms of the robustness and effectiveness that is overcame the undesirable boundary disturbances, minimized the tracking angle error to zero value and obtained the smooth and best force control action for the pendulum cart, with fast and minimum number of fitness evaluation.
American Psychological Association (APA)
al-Araji, Ahmad Sabah Abd al-Amir. 2016. Development of a swing-tracking sliding mode controller design for nonlinear inverted pendulum system via bees-slice genetic algorithm. Engineering and Technology Journal،Vol. 34, no. 15A, pp.2897-2910.
https://search.emarefa.net/detail/BIM-770741
Modern Language Association (MLA)
al-Araji, Ahmad Sabah Abd al-Amir. Development of a swing-tracking sliding mode controller design for nonlinear inverted pendulum system via bees-slice genetic algorithm. Engineering and Technology Journal Vol. 34, no. 15A (2016), pp.2897-2910.
https://search.emarefa.net/detail/BIM-770741
American Medical Association (AMA)
al-Araji, Ahmad Sabah Abd al-Amir. Development of a swing-tracking sliding mode controller design for nonlinear inverted pendulum system via bees-slice genetic algorithm. Engineering and Technology Journal. 2016. Vol. 34, no. 15A, pp.2897-2910.
https://search.emarefa.net/detail/BIM-770741
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 2909-2910
Record ID
BIM-770741