An optimal hybrid adaptive controller based on the multi-objective evolutionary algorithm for an under-actuated nonlinear ball and wheel system

被引：0
作者：
Alireza Pezhman
Javad Rezapour
Mohammad Javad Mahmoodabadi
机构：
[1] Islamic Azad University,Department of Mechanical Engineering, Lahijan Branch
[2] Sirjan University of Technology,Department of Mechanical Engineering
来源：
Journal of Mechanical Science and Technology | 2020年 / 34卷
关键词：
Sliding mode controller; Feedback linearization; PD controller; Multi-objective evolutionary algorithms; Gradient descent method; Ball and wheel system;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The present paper introduces an optimal hybrid adaptive robust sliding mode control based on a combination of feedback linearization and a PD controller (ARSMC-PD) to present a general scheme for stabilization of a ball and wheel system. Since the combination of adaptive sliding mode and feedback linearization cannot reduce the control efforts and tracking error, a PD controller is added to enhance the performance and provide sufficient optimal control input. At first, an adaptive mechanism is used to update the parameters of the SMC controller according to the gradient descent method and the chain rule of differentiation to minimize the sliding surface. Then, the strength Pareto evolutionary algorithm (SPEA-II) is utilized to minimize the control effort and the integral time absolute errors of the system response simultaneously in the presence of disturbance. The results prove the efficiency of the proposed controller in two aspects of low tracking error and optimal control input.
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页码：1723 / 1734
页数：11
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