Intelligent and Robust Controller Tuned with WOA: Applied for the Inverted Pendulum
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Date
2022-06-06
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Journal Européen des Systèmes Automatisés.Vol. 55, No. 3, June, 2022, pp. 359-366
Abstract
Inverted pendulum is a well-known problem in the control theory because several systems
such as robot balancing, Segway, hover board riding and operation of a rocket propeller
are inherently based on Inverted Pendulum, furthermore it possesses a height non-linear
and unstable dynamics. The main objective of our study is to introduce a comparative
analysis of fuzzy logic (FLC), radial basis function neural network (RBF) and integral
sliding mode control (ISMC) tuned with whale optimizer algorithm (WOA) for the control
of the angle position and velocity of the inverted pendulum system. The implemented
controller schemas can adequately reflect and approximate a certain type of uncertainties,
nevertheless their parameters should be fine-tuned in order to get height and efficient
performance, therefore all the antecedents and consequences of those controllers were
tuned with WOA. This later provide height accuracy and fast convergence with height
dimensional cost function. Comparative results shows that ISMC-WOA outperforms other
techniques in term of settling time and overshoot.