Big Bang-Big Crunch optimized hierarchical sliding-mode control of X-Z inverted pendulum


Wang J., Kumbasar T.

SIMULATION MODELLING PRACTICE AND THEORY, cilt.86, ss.25-35, 2018 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 86
  • Basım Tarihi: 2018
  • Doi Numarası: 10.1016/j.simpat.2018.05.002
  • Dergi Adı: SIMULATION MODELLING PRACTICE AND THEORY
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.25-35
  • Anahtar Kelimeler: X-Z inverted pendulum, Hierarchical sliding-mode control, Big Bang-Big Crunch optimization, Particle swarm optimization, Trajectory tracking control, TRACKING CONTROL, VERTICAL FORCES, PID CONTROLLERS, STABILIZATION, SYSTEMS, DESIGN
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

The control of the X-Z inverted pendulum is a challenging work since the X-Z inverted pendulum is an underactuated, open-loop unstable and multi-input-multi-output (MIMO) nonlinear system. In this paper, we will present a novel state transformation method for the X-Z inverted pendulum and Big Bang-Big Crunch (BBBC) optimized hierarchical sliding-mode control (HSMC) structure. We will firstly show that through the proposed transformation, the model of the X-Z inverted pendulum can be transformed to a typical underactuated form. Thus, based on the obtained system model, the hierarchical sliding-mode control (HSMC) can be directly applied in the trajectory tracking control of the X-Z inverted pendulum. Then, to ensure a convergent performance of the auxiliary sliding surfaces, the BBBC method is applied to obtain the optimal coupling factors for the HSMC. The control performance of the proposed BBBC based HSMC structure is compared with that of the present SMC and the HSMC with particle swarm optimization (PSO). Simulation results show the effectiveness of the proposed controllers for the X-Z inverted pendulum.