Nonlinear inverted pendulum PID control by an improved Artificial Bees Colony-Predator and prey approach

Salem, Mohammed; Khelfi, Mohamed Fayçal

doi:10.1109/icosc.2013.6750948

Cited by 3 publications

(1 citation statement)

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“…The cart-inverted pendulum is a system that usually used for testing many control algorithms [5]. There are some control algorithms that can be used for stabilising a cart-inverted pendulum such as Linear Quadratic Regulator (LQR) [6], neural network [7], genetic algorithm [8], fuzzy control [9], and PID [10] which have been studied by many researchers. The studies about the stability of a cart-inverted pendulum is very useful for developing real world application systems, for instances: a segway, an earthquake resistant building design, a human walking, etc.…”

Section: Introductionmentioning

confidence: 99%

Stabilising a cart inverted pendulum with an augmented PID control scheme

et al. 2018

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A cart inverted pendulum is an under actuated system that highly unstable and nonlinear. Therefore, it makes a good problem example which attracts control engineers to validate the developed control algorithms. In this paper, an augmented PID control algorithm is proposed to stabilise a cart inverted pendulum at the desired state. The derivation of a mathematical model of the cart inverted pendulum using Lagrange's equation is discussed in detail. The system dynamics is illustrated to understand better the behaviour of the system. A simulation program has been developed to verify the performance of the proposed control algorithm. The system dynamic behaviours with respect to the variation of the controller parameters are analysed and discussed. Controllers parameters are expressed into two PID gain sets which associated with 2 dynamic states: the cart position (ϰ) and the pendulum angle (θ). It can be concluded from the simulation result that the proposed control algorithm can perform well where acceptable steady errors can be achieved. The best response from the cart inverted pendulum system has been obtained with the value of kPX 190, kDX 50, kIX 5, kPθ 140, kDθ 5, and kIθ 25.

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