Modeling of inverted pendulum system with gravitational search algorithm optimized controller
| Autor: | Mohamed Magdy, Mahmoud A. Attia, Abdallah El Marhomy |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
Viscous damping
Computer science Physics::Instrumentation and Detectors 020209 energy 020208 electrical & electronic engineering Gravitational search algorithm General Engineering PID controller 02 engineering and technology Engineering (General). Civil engineering (General) Inverted pendulum symbols.namesake Classical control theory Robustness (computer science) Control theory 0202 electrical engineering electronic engineering information engineering symbols Algorism TA1-2040 |
| Zdroj: | Ain Shams Engineering Journal, Vol 10, Iss 1, Pp 129-149 (2019) |
| ISSN: | 2090-4479 |
| Popis: | The inverted pendulum (IP) is a common classical control theory problem. Many controllers are used to keep the pendulum rod upraise via the control the position of the cart. In this paper, Modelling of IP system is carried out and then verifies the model through comparison with other models in literature. The viscous damping effect on the IP system has been also considered in this work. The PID controller is used to control the IP and is tuned by using both Gravitational Search Algorithm (GSA) and Genetic Algorism (GA). Examination of GSA efficiency has been demonstrated, and then comparison with Genetic Algorism (GA) in the tuning of PID controller is presented. The results proved the superiority of the controller which is tuned by using GSA (PID-GSA). Finally, the optimized controller (PID-GSA) performance is checked through carrying out the robustness test. Keywords: Inverted pendulum, PID controller, Genetic algorithm, Gravitational search algorithm, D'Alembert's principle |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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