Particle swam optimization for stabilizing controller of a self-erecting linear inverted pendulum / Mahmud Iwan Solihin and Rini Akmeliawati

Solihin, Mahmud Iwan and Akmeliawati, Rini (2010) Particle swam optimization for stabilizing controller of a self-erecting linear inverted pendulum / Mahmud Iwan Solihin and Rini Akmeliawati. Journal of Electrical and Electronic Systems Research (JEESR), 3: 2. pp. 13-23. ISSN 1985-5389

Abstract

This paper presents an advanced application of particle swarm optimization, PSO to find state feedback controller gains for stabilizing controller in a linear inverted pendulum. This plant is used as an application example of the proposed method. In conventional method of state feedback control design such as pole placement and linear quadratic regulator method, controller designers often face troublesome exercise of tuning several parameters. Particularly, one has to face trial-and error approach to select suitable Q and R matrices to design a state feedback control using linear quadratic regulator method. To overcome this problem, an intelligent approach employing PSO based constrained optimization is proposed. The objective of the optimization is to minimize error function, while closed loop poles region is incorporated as an optimization constraint whose parameter is selected based on the desired control performance. In this study, Clerc’s PSO is adopted together with dynamic objective constraint handling where efficient optimization run is shown in the simulation results.

Metadata

Item Type: Article
Creators:
Creators
Email / ID Num.
Solihin, Mahmud Iwan
mahmudis@ucsi.edu.my
Akmeliawati, Rini
rakmelia@iium.edu.my
Subjects: T Technology > TK Electrical engineering. Electronics. Nuclear engineering
Divisions: Universiti Teknologi MARA, Shah Alam
Journal or Publication Title: Journal of Electrical and Electronic Systems Research (JEESR)
UiTM Journal Collections: UiTM Journal > Journal of Electrical and Electronic Systems Research (JEESR)
ISSN: 1985-5389
Volume: 3
Page Range: pp. 13-23
Keywords: PSO, optimization, state feedback controller, inverted pendulum
Date: June 2010
URI: https://ir.uitm.edu.my/id/eprint/61875
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