scholarly journals Pareto Design of Decoupled Sliding-Mode Controllers for Nonlinear Systems Based on a Multiobjective Genetic Algorithm

2012 ◽  
Vol 2012 ◽  
pp. 1-22 ◽  
Author(s):  
M. J. Mahmoodabadi ◽  
A. Bagheri ◽  
N. Nariman-zadeh ◽  
A. Jamali ◽  
R. Abedzadeh Maafi
Keyword(s):  
Genetic Algorithm ◽  
Nonlinear Systems ◽  
Fourth Order ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Objective Functions ◽  
Software Environment ◽  
Multiobjective Genetic Algorithm ◽  
Sliding Mode Controllers

This paper presents Pareto design of decoupled sliding-mode controllers based on a multiobjective genetic algorithm for several fourth-order coupled nonlinear systems. In order to achieve an optimum controller, at first, the decoupled sliding mode controller is applied to stablize the fourth-order coupled nonlinear systems at the equilibrium point. Then, the multiobjective genetic algorithm is applied to search the optimal coefficients of the decoupled sliding-mode control to improve the performance of the control system. Considered objective functions are the angle and distance errors. Finally, the simulation results implemented in the MATLAB software environment are presented for the inverted pendulum, ball and beam, and seesaw systems to assure the effectiveness of this technique.

Robust stabilization control of a spatial inverted pendulum using integral sliding mode controller

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Ishan Chawla ◽  
Vikram Chopra ◽  
Ashish Singla
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Robust Stabilization ◽  
Linear Quadratic Regulator ◽  
Humanoid Robots ◽  
Sliding Mode Controller ◽  
Linear Quadratic ◽  
Integral Sliding Mode ◽  
Wide Range ◽  
Lqr Controller

AbstractFrom the last few decades, inverted pendulums have become a benchmark problem in dynamics and control theory. Due to their inherit nature of nonlinearity, instability and underactuation, these are widely used to verify and implement emerging control techniques. Moreover, the dynamics of inverted pendulum systems resemble many real-world systems such as segways, humanoid robots etc. In the literature, a wide range of controllers had been tested on this problem, out of which, the most robust being the sliding mode controller while the most optimal being the linear quadratic regulator (LQR) controller. The former has a problem of non-robust reachability phase while the later lacks the property of robustness. To address these issues in both the controllers, this paper presents the novel implementation of integral sliding mode controller (ISMC) for stabilization of a spatial inverted pendulum (SIP), also known as an x-y-z inverted pendulum. The structure has three control inputs and five controlled outputs. Mathematical modeling of the system is done using Euler Lagrange approach. ISMC has an advantage of eliminating non-robust reachability phase along with enhancing the robustness of the nominal controller (LQR Controller). To validate the robustness of ISMC to matched uncertainties, an input disturbance is added to the nonlinear model of the system. Simulation results on two different case studies demonstrate that the proposed controller is more robust as compared to conventional LQR controller. Furthermore, the problem of chattering in the controller is dealt by smoothening the controller inputs to the system with insignificant loss in robustness.

scholarly journals Design of hybrid sliding mode controller based on fireworks algorithm for nonlinear inverted pendulum systems

2017 ◽  
Vol 9 (1) ◽  
pp. 168781401668427 ◽  
Author(s):  
Te-Jen Su ◽  
Shih-Ming Wang ◽  
Tsung-Ying Li ◽  
Sung-Tsun Shih ◽  
Van-Manh Hoang
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Linear Quadratic Regulator ◽  
Sliding Mode Controller ◽  
Proportional Integral Derivative ◽  
Linear Quadratic ◽  
Pendulum System ◽  
Fireworks Algorithm ◽  
Simulation Process ◽  
Inverted Pendulum System

The objective of this article is to optimize parameters of a hybrid sliding mode controller based on fireworks algorithm for a nonlinear inverted pendulum system. The proposed controller is a combination of two modified types of the classical sliding mode controller, namely, baseline sliding mode controller and fast output sampling discrete sliding mode controller. The simulation process is carried out with MATLAB/Simulink. The results are compared with a published hybrid method using proportional–integral–derivative and linear quadratic regulator controllers. The simulation results show a better performance of the proposed controller.

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