Stabilization and tracking control of an x-z type inverted pendulum system using Lightning Search Algorithm tuned nonlinear PID controller

Basit Öğe Kaydı
dc.authorid0000-0003-4874-6058en_US
dc.contributor.authorGürsel Özmen, Nurhan
dc.contributor.authorMarul, Musa
dc.date.accessioned2021-12-17T06:45:51Z
dc.date.available2021-12-17T06:45:51Z
dc.date.issued2021
dc.departmentAÇÜ, Borçka Acarlar Meslek Yüksekokulu, Mekatronik Bölümüen_US
dc.description.abstractInverted pendulum systems (IPSs) are mostly used to demonstrate the control rules for keeping the pendulum at a balanced upright position due to a slight force applied to the cart system. This paper presents an application for nonlinear control of an x-z type IPS by using a proportional-integral-derivative (PID) controller with newly established evolutionary tuning method Lightning Search Algorithm (LSA). A single, double and triple PID controller system is tested with the conventional and the self-tuning controllers to get a better understanding of the performance of the given system. The mathematical modelling of the x-z type IPS, the theoretical explanation of the LSA and the simulation analysis of the x-z type IPS is put forward entirely. The LSA algorithm solves the optimization problem of PID controller in an evolutionary way. The most effective way of making comparisons is evaluating the performance results with a well-known optimization technique or with the previous accepted results. We have compared the system's performance with particle swarm optimization and with a classical control study in the literature. According to the simulation results, LSA-tuned PID controller has the ability to decrease the overshoot better than the conventional-tuned controllers. Finally, it can be concluded that the LSA-supported PID can better stabilize the pendulum angle and track the reference better for non-disturbed and the slightly disturbed systems.
dc.identifier.citationÖzmen, N. G., & Marul, M. (2021). Stabilization and tracking control of an xz type inverted pendulum system using Lightning Search Algorithm tuned nonlinear PID controller. Robotica, 1-21.en_US
dc.identifier.doi10.1017/S0263574721001727
dc.identifier.scopusqualityQ1
dc.identifier.urihttps://doi.org/10.1017/S0263574721001727
dc.identifier.urihttps://hdl.handle.net/11494/3611
dc.identifier.volumeArticle in pressen_US
dc.identifier.wosqualityQ4
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorMarul, Musa
dc.language.isoenen_US
dc.publisherCambridge University Pressen_US
dc.relation.ispartofRobotica
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectInverted pendulumen_US
dc.subjectLightning search algorithm (LSA)en_US
dc.subjectNonlinear PID controlen_US
dc.subjectParticle swarm optimization (PSO)en_US
dc.subjectStabilizationen_US
dc.subjectTracking controlen_US
dc.titleStabilization and tracking control of an x-z type inverted pendulum system using Lightning Search Algorithm tuned nonlinear PID controlleren_US
dc.typeArticle

Dosyalar

Lisans paketi
Listeleniyor 1 - 1 / 1
[ X ]
İsim:
license.txt
Boyut:
1.44 KB
Biçim:
Item-specific license agreed upon to submission
Açıklama:
İndir

Koleksiyon

Borçka Acarlar Meslek Yüksekokulu Yayın Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu
WoS İndeksli Yayınlar Koleksiyonu