Title :
Self-erecting inverted pendulum employing PSO for stabilizing and tracking controller
Author :
Solihin, Mahmud Iwan ; Wahyudi ; Akmeliawati, Rini
Author_Institution :
Dept. of Mechatron. Eng., Int. Islamic Univ. Malaysia, Kuala Lumpur
Abstract :
The main objective of this paper is to design a state feedback controller for stabilizing and tracking control of self-erecting inverted pendulum employing intelligent method using particle swarm optimization (PSO). This is motivated by the fact that one has to face trial and error approach in conventional feedback control design by pole placement method or linear quadratic regulator (LQR) method via Riccati equation. The simulation results show the effectiveness of the proposed method. The proposed state feedback controller works jointly with swing-up controller in the self-erecting inverted pendulum system.
Keywords :
control system synthesis; feedback; nonlinear control systems; particle swarm optimisation; pendulums; poles and zeros; stability; tracking; LQR; PSO; Riccati equation; error approach; intelligent method; linear quadratic regulator; particle swarm optimization; pole placement method; self-erecting inverted pendulum; stabilizing-tracking controller; state feedback controller design; swing-up controller; Control systems; Error correction; Feedback control; Mechatronics; Particle swarm optimization; Particle tracking; Rails; Riccati equations; Signal processing; State feedback;
Conference_Titel :
Signal Processing & Its Applications, 2009. CSPA 2009. 5th International Colloquium on
Conference_Location :
Kuala Lumpur
Print_ISBN :
978-1-4244-4151-8
Electronic_ISBN :
978-1-4244-4152-5
DOI :
10.1109/CSPA.2009.5069190