Designing an Effective Hybrid Control Strategy to Balance a Practical Inverted Pendulum System
Designing an Effective Hybrid Control Strategy to Balance a Practical Inverted Pendulum System |
||
|
||
© 2022 by IJETT Journal | ||
Volume-70 Issue-5 |
||
Year of Publication : 2022 | ||
Authors : Ngoc-Khoat Nguyen, Van-Nam Pham, Tran-Chinh Ho, Thi-Mai-Phuong Dao |
||
DOI : 10.14445/22315381/IJETT-V70I5P210 |
How to Cite?
Ngoc-Khoat Nguyen, Van-Nam Pham, Tran-Chinh Ho, Thi-Mai-Phuong Dao, "Designing an Effective Hybrid Control Strategy to Balance a Practical Inverted Pendulum System," International Journal of Engineering Trends and Technology, vol. 70, no. 5, pp. 80-87, 2022. Crossref, https://doi.org/10.14445/22315381/IJETT-V70I5P210
Abstract
Controlling an inverted pendulum system to be successfully balanced is one of the most conventional and significant control problems. An inverted pendulum system typically consists of a cart and a free-rotating rod. The control goal is to maintain a vertical position of the rod while the cart must be regulated to follow a given desired trajectory satisfying an acceptable tolerance. To obtain such a control objective, the system should be separated into two simultaneous control phases: rotational angle control for the rod and position one for the cart. This work mainly focuses on designing an effective control scheme for both a mathematical model and a practical prototype of the inverted pendulum system. The control methodology is a reasonable integration of two conventional PID controllers and a proper metaheuristic optimization technique, e.g., PSO (particle swarm optimization). Simulation results on the Simulink model and experiment results on the practical one demonstrate the feasibility and effectiveness of the control strategy proposed in this study.
Keywords
Inverted pendulum, PID, PSO, Scaling factors, Balancing control.
Reference
[1] E. Susanto, A. Surya Wibowo, and E. Ghiffary Rachman, Fuzzy swing-up control and optimal state feedback stabilization for the self-erecting inverted pendulum, IEEE Access, 8 (2020) 6496–6504. https://doi.org/10.1109/ACCESS.2019.2963399.
[2] N. Tahir, M. Muhammad, M. Idi, S. Buyamin, L. Maijama’a, and S. Yarima, Comparative analysis of observer-based lqr and lmi controllers of an inverted pendulum, Bulletin of Electrical Engineering and Informatics, 9(6) (2020) 2244–2252. https://doi.org/10.11591/eei.v9i6.2271.
[3] I. Siradjuddin, Z. Amalia, B. Setiawan, F. Ronilaya, E. Rohadi, A. Setiawan, C. Rahmad, and S. Adhisuwignjo, Stabilising a cart inverted pendulum with an augmented PID control scheme, MATEC Web of Conferences, 197 (2018) 11013. https://doi.org/10.1051/matecconf%2F201819711013.
[4] Roslan, A. A., Nasir, A. N. K., Jusof, M. F. M., Razak, A. A. A., & Ahmad, M. A. Sine-Based Barnacle Mating Optimization for PD Control of an Inverted Pendulum System. In Proceedings of the 6th International Conference on Electrical, Control and Computer Engineering, (2022) 429-439 2022. Springer, Singapore.
[5] Widjiantoro, B. L. & Wafi, M. K. Discrete-Time State-Feedback Controller with Canonical Form on Inverted Pendulum (on a Cart). International Journal of Science and Engineering Investigations (IJSEI), 11(120) (2022)16-21. http://www.ijsei.com/papers/ijsei-1112022-03.pdf
[6] S. Krafes, Z. Chalh, and A. Saka, Review: Linear, nonlinear and intelligent controllers for the inverted pendulum problem, 2016 International Conference on Electrical and Information Technologies (ICEIT), (2016) 136-141. doi: 10.1109/EITech.2016.7519577.
[7] Ngoc-Khoat Nguyen, Duy-Trung Nguyen. A Comparative Study on PI – and PD – Type Fuzzy Logic Control Strategies. International Journal of Engineering Trends and Technology, 69(7) (2021) 101-108. https://doi.org/10.14445/22315381/IJETT-V69I7P215
[8] D-. Trung N., N-. Khoat N. et al. Designing PSO-based PI-type fuzzy logic controllers: a typical application to load-frequency control strategy of an interconnected hydropower system. Proceedings of 2019 3rd International Conference on Automation, Control and Robots (ICACR 2019), Prague, Czech Republic, (2019) 61 – 66.
[9] Vinothkumar C, Esakkiappan C. Optimization of PI Controller on Level Control of Hopper Tank System with PSO Technique, International Journal of Engineering Trends and Technology, 69(10) (2021) 178-185. https://doi.org/10.14445/22315381/IJETT-V69I10P222
[10] S. D. Hanwate and Y. V. Hote, Design of PID controller for inverted pendulum using stability boundary locus, 2014 Annual IEEE India Conference (INDICON), (2014) 1-6, doi: 10.1109/INDICON.2014.7030563.
[11] Girish Bhide, Brijesh Iyer, Anil Nandgaonkar, Sanjay Nalbalwar, Abhay Wagh. Design and Analysis of Compact Giraffe-Shaped Patch Antenna for UWB Applications: A FDTD and Hybrid PSO Algorithm Approach. International Journal of Engineering Trends and Technology, 70(3) (2022) 13-21, 2022. https://doi.org/10.14445/22315381/IJETT-V70I3P202
[12] S. Nayak and A. Kumar, An Intelligent CSO – DBNN based Cyber Intrusion Detection Model for Smart Grid Power System, International Journal of Engineering Trends and Technology, 68(6) (2020) 50 – 57.
[13] Mr. Ashfaq Ur Rehman Mohamed Riazuddin, Dr.Mahabuba Abdulrahim, Dr.Jennathu Beevi Sahul Hameed, Dr. Jayashree Ramasubramaniam, Optimal Design of Controller for Automatic Generation Control in Multi Area Restructured Power System with Battery Energy Storage and Wind Energy Systems. International Journal of Engineering Trends and Technology, 69(12) (2021) 188-196, 2021.
[14] S. Handoyo and Y. P. Chen, The Developing of Fuzzy System for Multiple Time Series Forecasting with Generated Rule Bases and Optimized Consequence Part, International Journal of Engineering Trends and Technology, 68(12) (2020) 118 – 122.
[15] T-M-P. Dao, Y. Wang, N-K. Nguyen. Applying meta–heuristic optimization methods to design novel adaptive PI–type fuzzy logic controllers for load– frequency control in a large–scale power grid, Turkish Journal of Electrical.
[16] Engineering & Computer Sciences, 24(6) (2016) 4900-4914, 2016.
[17] Wei Zhang, Jiao Liu, Lv-bin Fan, Ya-hong Liu, Di Ma, Control strategy PSO, Applied Soft Computing, 38 (2016) 75-86. https://doi.org/10.1016/j.asoc.2015.09.030.
[18] Taizhou Wu, Cuicui Zhou, Zhe Yan, Huang Peng, Linzhang Wu, Application of PID optimization control strategy based on particle swarm optimization (PSO) for the battery charging system, International Journal of Low-Carbon Technologies, 15(4) (2020) 528–535. https://doi.org/10.1093/ijlct/ctaa020.
[19] Mohamed Abdul Raouf Shafei, Doaa Khalil Ibrahim, Mostafa Bahaa, Application of PSO tuned fuzzy logic controller for LFC of two-area power system with redox flow battery and PV solar park, Ain Shams Engineering Journal13(5) (2022). https://doi.org/10.1016/j.asej.2022.101710.
[20] Hossein Oghab Neshin, Manouchehr Jandaghi Semnani. Two-area power system stability analysis by frequency controller with UPFC synchronization and energy storage systems, International Journal of Engineering Trends and Technology, 68(1) (2021) 14-29. https://doi.org/10.14445/22315381/IJETT-V68I1P203.