Abstract
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.
Highlights
The inverted pendulum system is known as one of the classical benchmark control problems
With the characteristics of high nonlinearity and non-stability, this single input–multiple outputs (SIMO) system is good enough to verify the performance of control techniques
The inner loop is controlled by fast output sampling discrete sliding mode controller (FOSDSMC) for stabilizing the pendulum balanced in the upright position, while baseline sliding mode controller (BSMC) is present in the outer loop to control the movement of cart to desired target as fast as possible
Summary
The inverted pendulum system is known as one of the classical benchmark control problems. There are many nonlinear controllers applied for controlling this system, such as model predictive controller,[1] fuzzy logic controller,[2,3] and neural network.[4,5] Besides these approaches, hybrid controllers are a promising solution for controlling the inverted pendulum system.
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