An adaptive swing-up sliding mode controller design for a real inverted pendulum system based on Culture-Bees algorithm

摘要

This paper presents a new design and implementation of an adaptive swing-up control algorithm for a real inverted pendulum system. The main core of the control algorithm is a sliding mode technique with the Lyapunov stability method. The goal of the proposed adaptive swing-up controller is to get the optimal force control action for the inverted pendulum in the real-time in order to precisely and quickly swing the pendulum up to the inverted position. An on-line auto-tuning hybrid intelligent algorithm based on Culture-Bees algorithms is carried out as a stable and robust algorithm to obtain and adjust the control parameters for the proposed controller. To eliminate the chattering effect of the fast switching surface, the sigmoid function is used as a Signum function for reducing the amplitude of the output function. The numerical simulation results in MATLAB and the experimental work in LabVIEW illustrate the improved performance of the adaptive swing-up controller in terms of robust performance and adaptation effectiveness that minimized the pendulum angle error to a zero value and obtained the best force control action for the pendulum cart, in addition to reducing the fitness evaluation number. These results were confirmed by a comparative study with different nonlinear controller types. (C) 2018 European Control Association. Published by Elsevier Ltd. All rights reserved.