Implementation of Swarm Based Gain Scheduling for 2D Inverted Pendulum Using PLC
| Autor: | Sasithorn Chookaew, Suppachai Howimanporn, Warin Sootkaneung |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science 020208 electrical & electronic engineering Swarm behaviour PID controller 02 engineering and technology Inverted pendulum Scheduling (computing) Nonlinear system 020901 industrial engineering & automation Gain scheduling Computer Science::Systems and Control Control theory 0202 electrical engineering electronic engineering information engineering |
| Zdroj: | IIAI-AAI |
| DOI: | 10.1109/iiai-aai.2018.00132 |
| Popis: | The goal of this work is to propose a controller gain scheduling technique for balancing a 2D inverted pendulum system which is widely used to represent the nonlinear systems. In this work, the dynamic model of the inverted pendulum is derived using Newton-Euler method. Two controllers that employ Proportional-Integral-Derivative (PID) and Linear-Quadratic-Regulator (LQR) algorithms are applied to balance the proposed inverted pendulum system. The gains of both controllers are obtained from the swarm-based approach for each defined angle. PLC is used to schedule the proper controller gains for the corresponding angle of the pendulum. The results show that LQR technique outperform PID in terms of signal error and fluctuation. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|