کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
6902495 1446641 2018 16 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Big Bang-Big Crunch optimized hierarchical sliding-mode control of X-Z inverted pendulum
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر علوم کامپیوتر (عمومی)
پیش نمایش صفحه اول مقاله
Big Bang-Big Crunch optimized hierarchical sliding-mode control of X-Z inverted pendulum
چکیده انگلیسی
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.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Simulation Modelling Practice and Theory - Volume 86, August 2018, Pages 25-35
نویسندگان
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