Controller Tuning Using Artificial Immune Systems Applied to Inverted Pendulum

被引:0
作者
Augusto Guarnizo, Wilson [1 ]
Guillermo Guarnizo, Jose [3 ]
Mateus Rojas, Armando [1 ]
Andres Torres-Pinzon, Carlos [2 ]
机构
[1] Univ Santo Tomas, Grp Estudio & Desarrollo Robot GED, Bogota, Colombia
[2] Univ Santo Tomas, Fac Elect Engn, MEM Modelling Elect & Monitoring Res Grp, Bogota, Colombia
[3] Univ Dist Francisco Jose de Caldas, Lab Invest Fuentes Alternat Energia LIFAE, Bogota, Colombia
来源
2023 IEEE 6TH COLOMBIAN CONFERENCE ON AUTOMATIC CONTROL, CCAC | 2023年
关键词
Artificial Immune Systems; Intelligent Control; Inverted Pendulum; Bioinspired; Non-linear systems;
D O I
10.1109/CCAC58200.2023.10333447
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, we describe the application of a bioinspired algorithm based on Artificial Immune Systems (AIS) for an angular position control system tuning of an inverted pendulum. Two controllers are detailed and used in two different cases; for Case 1, a PID controller has been designed using a simulated model of the inverted rotary pendulum in MATLAB and an AIS program for tuning the controller gains. Comparisons of the performance of controllers during their transitive process are made to measure the extent to which they improve the maximum overshoot, settling time, and steady-state error of the base controllers and the controller tuned with the AIS algorithm. Finally, for Case 2, the tuning performance of the AIS is verified on an Inverted Rotary Pendulum (IRP) physical plant with a State Variable Feedback (SVF) controller. The results demonstrate that using bioinspired techniques such as AIS for tuning a previously designed controller improves the performance of the non-linear system, compared to the results before the tuning process.
引用
收藏
页码:166 / 171
页数:6
相关论文
共 18 条
[1]  
Apkarian J, 2011, Instructor Workbook. Inverted Pendulum Experiment for MatLab<(R), P61
[2]  
Betala R., 2023, 2023 IEEE INT C 1NTE
[3]  
Bose S., 2022, 2022 INTERDISCIPLINA
[4]   Real-Time Stabilization Control of a Rotary Inverted Pendulum Using LQR-Based Sliding Mode Controller [J].
Chawla, Ishan ;
Singla, Ashish .
ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING, 2021, 46 (03) :2589-2596
[5]  
Guarnizo J. G., 2019, INT C MACHINE LEARNI
[6]  
Herrera Lozada J.C., Ph.D. dissertation
[7]   A new heuristically optimized Home Energy Management controller for smart grid [J].
Javaid, Nadeem v ;
Naseem, Mudassar ;
Rasheed, Muhammad Babar ;
Mahmood, Danish ;
Khan, Shahid Ahmed ;
Alrajeh, Nabil ;
Iqbal, Zafar .
SUSTAINABLE CITIES AND SOCIETY, 2017, 34 :211-227
[8]  
Lim H. -K., 2020, 2020 INT C ART INT I
[9]  
Miao Y., 2021, 2021 40 CHINESE CONT
[10]   Attitude Control of a Micro AUV Through an Embedded System [J].
Monroy, J. A. ;
Campos, E. ;
Torres, J. A. .
IEEE LATIN AMERICA TRANSACTIONS, 2017, 15 (04) :603-612