Development of a Swing-Tracking Sliding Mode Controller Design for Nonlinear Inverted Pendulum System via Bees-Slice Genetic Algorithm
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...
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| Format: | Article |
| Language: | English |
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Unviversity of Technology- Iraq
2016-12-01
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| Series: | Engineering and Technology Journal |
| Subjects: | |
| Online Access: | https://etj.uotechnology.edu.iq/article_123779_9941cadbb5c434bfcf955c91910d0150.pdf |
| _version_ | 1797325757655023616 |
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| author | Ahmed Sabah Al-Araji |
| author_facet | Ahmed Sabah Al-Araji |
| author_sort | Ahmed Sabah Al-Araji |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-08T06:14:06Z |
| format | Article |
| id | doaj.art-f8a65beae1664710963b57ccfd23104c |
| institution | Directory Open Access Journal |
| issn | 1681-6900 2412-0758 |
| language | English |
| last_indexed | 2024-03-08T06:14:06Z |
| publishDate | 2016-12-01 |
| publisher | Unviversity of Technology- Iraq |
| record_format | Article |
| series | Engineering and Technology Journal |
| spelling | doaj.art-f8a65beae1664710963b57ccfd23104c2024-02-04T17:28:42ZengUnviversity of Technology- IraqEngineering and Technology Journal1681-69002412-07582016-12-013415A2897291010.30684/etj.34.15A.11123779Development of a Swing-Tracking Sliding Mode Controller Design for Nonlinear Inverted Pendulum System via Bees-Slice Genetic AlgorithmAhmed Sabah Al-ArajiA 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.https://etj.uotechnology.edu.iq/article_123779_9941cadbb5c434bfcf955c91910d0150.pdfsliding mode controllerbeesslice genetic algorithminverted pendulum |
| spellingShingle | Ahmed Sabah Al-Araji Development of a Swing-Tracking Sliding Mode Controller Design for Nonlinear Inverted Pendulum System via Bees-Slice Genetic Algorithm Engineering and Technology Journal sliding mode controller bees slice genetic algorithm inverted pendulum |
| title | Development of a Swing-Tracking Sliding Mode Controller Design for Nonlinear Inverted Pendulum System via Bees-Slice Genetic Algorithm |
| title_full | Development of a Swing-Tracking Sliding Mode Controller Design for Nonlinear Inverted Pendulum System via Bees-Slice Genetic Algorithm |
| title_fullStr | Development of a Swing-Tracking Sliding Mode Controller Design for Nonlinear Inverted Pendulum System via Bees-Slice Genetic Algorithm |
| title_full_unstemmed | Development of a Swing-Tracking Sliding Mode Controller Design for Nonlinear Inverted Pendulum System via Bees-Slice Genetic Algorithm |
| title_short | Development of a Swing-Tracking Sliding Mode Controller Design for Nonlinear Inverted Pendulum System via Bees-Slice Genetic Algorithm |
| title_sort | development of a swing tracking sliding mode controller design for nonlinear inverted pendulum system via bees slice genetic algorithm |
| topic | sliding mode controller bees slice genetic algorithm inverted pendulum |
| url | https://etj.uotechnology.edu.iq/article_123779_9941cadbb5c434bfcf955c91910d0150.pdf |
| work_keys_str_mv | AT ahmedsabahalaraji developmentofaswingtrackingslidingmodecontrollerdesignfornonlinearinvertedpendulumsystemviabeesslicegeneticalgorithm |