Performance assessment of particle swarm optimisation and differential evolution algorithms on integral sliding mode control of cart-inverted pendulum

Abstract

In this paper, optimal parameters of integral sliding mode controller (ISMC) that balances a cart-inverted pendulum (CIP) system in the unstable equilibrium position are determined using both PSO and DE algorithms. For comparison purposes, the performances of the PSO-ISMC and the DE-ISMC on the stabilisation of the CIP system in its unstable equilibrium position are evaluated. Simulation results have shown that both the PSO-ISMC and the DE-ISMC are capable of stabilising the CIP system in the unstable equilibrium. Importantly, the experiments successfully identified the particular situations in which the PSO-ISMC and the DE-ISMC algorithms perform best depending on the position of the inverted pendulum with respect to the unstable equilibrium position.