PSO-Based Controller Design for Rotary Inverted Pendulum System
نویسندگان
چکیده
منابع مشابه
Design Of LQR Based Stabilizer For Rotary Inverted Pendulum System
This paper presents the design of optimal controller for nonlinear Rotary Inverted Pendulum (RIP) dynamic system using Linear Quadratic Regulator (LQR). LQR, an optimal control technique is generally used for control of the linear dynamical systems, have been used in this paper to control the non linear dynamical system. The non linear system states are fed to LQR which is designed using linear...
متن کاملController Design for an Inverted Pendulum based on Approximate Linearization
In this paper, taking the inverted pendulum as an example of nonlinear systems which are not exactly linearizable, we give a controller design method for the system based on the approximate linearization. In the method, we try to suppress the e ect of the higher order residual terms in choosing the new coordinate for the approximate linearization. Furthermore, we show its e ectiveness by experi...
متن کاملLqg/ltr Controller Design for Rotary Inverted Pendulum Quanser Real-time Experiment
This experiment consists of a rigid link (pendulum) rotating in a vertical plane. The rigid link is attached to a pivot arm, which is mounted on the load shaft of a DC-motor. The pivot arm can be rotated in the horizontal plane by the DC-motor. The DC-motor is instrumented with a potentiometer. In addition, a potentiometer is mounted on the pivot arm to measure the pendulum angle. The principal...
متن کاملInput-Output Feedback Linearization Cascade Controller Using Genetic Algorithm for Rotary Inverted Pendulum System
Abstract: The Rotary Inverted Pendulum (RIP) system is a significant classical problem of control engineering which has been investigated in the past decades. This study presents an optimum InputOutput Feedback Linearization (IOFL) cascade controller utilized Genetic Algorithm (GA). Due to the non-minimum phase behavior of the system, IOFL controller leads to unstable internal dynamics. Therefo...
متن کاملModeling and Controller Designing of Rotary Inverted Pendulum (RIP)-Comparison by Using Various Design Methods
_ Inverted pendulum control is one of the fundamental and interesting problems in the field of control theory. This paper describes the steps to design various controllers for a rotary motion inverted pendulum which is operated by a rotary servo plant, SRV 02 Series. Nonlinear model of the rotary inverted pendulum and linear model (Upright) in the neighborhood of an equilibrium state are descri...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Applied Sciences
سال: 2008
ISSN: 1812-5654
DOI: 10.3923/jas.2008.2907.2912