Pareto optimum control of a 2-DOF inverted pendulum using approximate feedback linearization and sliding mode control

In this paper, a cart-type inverted pendulum is controlled using combining of two methods of approximate feedback linearization and sliding mode control. Both position of the cart and angular position of the pendulum are stabilized. Obtained control gains are optimized by a hybrid algorithm based on...

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Bibliographic Details
Published in:Transactions of the Institute of Measurement and Control 2014-06, Vol.36 (4), p.496-505
Main Authors: Sahnehsaraei, M Andalib, Mahmoodabadi, MJ, Bagheri, A
Format: Article
Language:English
Subjects:
Angular position
Approximation
Feedback control systems
Feedback linearization
Gain
Genetic algorithms
Nonlinear systems
Optimization
Optimization algorithms
Pendulums
Sliding mode control
Swarm intelligence
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Summary:In this paper, a cart-type inverted pendulum is controlled using combining of two methods of approximate feedback linearization and sliding mode control. Both position of the cart and angular position of the pendulum are stabilized. Obtained control gains are optimized by a hybrid algorithm based on the particle swarm optimization and genetic algorithm.
ISSN:0142-3312
1477-0369
DOI:10.1177/0142331213504946