CONTROLLER DESIGN FOR ROTARY INVERTED PENDULUM SYSTEM USING PARTICLE SWARM OPTIMIZATION ALGORITHM

被引：0
作者：
Rahimi, Afshin [1 ]
Raahemifar, Kaamran [1 ]
Kumar, Krishna [1 ]
Alighanbari, Hekmat [1 ]
机构：
[1] Ryerson Univ, Toronto, ON, Canada
来源：
2013 26TH ANNUAL IEEE CANADIAN CONFERENCE ON ELECTRICAL AND COMPUTER ENGINEERING (CCECE) | 2013年
关键词：
Optimization; Control; RIP; PSO; State-Feedback;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
This paper presents particle swarm optimization approach for designing Rotary Inverted Pendulum (RIP) controller. The goal is to balance the pendulum in the inverted position. The intuition of this work is using state-feedback controller as the stabilizer component of the system whereas in other existing systems, only Proportional-Integral-Derivative (PID) is used for that purpose. Simulation results demonstrate effectiveness of the proposed controller design method and can be considered as promising ways for control of various similar nonlinear systems.
引用
收藏
页码：213 / 217
页数：5
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