Detail publikace

PID CONTROLER PARAMETERS SETTINGS BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM PURPOSE STABILIZATION

MARADA, T.

Originální název

PID CONTROLER PARAMETERS SETTINGS BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM PURPOSE STABILIZATION

Typ

článek v časopise ve Scopus, Jsc

Jazyk

angličtina

Originální abstrakt

One of the classical problems in dynamics and control theory is balancing of an inverted pendulum robot by moving a cart along a horizontal path. A real world example of this inverted pendulum system is the attitude control of a rocket booster at take-off. Inverted pendulum stabilization can be performed through several methods. This paper presents capability of inverted pendulum control by two PID (Proportional, Integration, and Derivative) controllers for its stabilization. A genetic algorithm is used to optimizing different controller’s parameters. Different performance indicators and genetic algorithm were implemented and calculated in MATLAB software. Simulink environment was used to simulate the inverted pendulum nonlinear equations with PID controllers. The results of simulations have been mentioned in the experiments and conclusion.

Klíčová slova

Inverted pendulum, Genetic algorithm, Penalty in the objective function, PID controller, ITAE criterion.

Autoři

MARADA, T.

Vydáno

8. 6. 2016

Místo

Brno

ISSN

1803-3814

Periodikum

Mendel Journal series

Ročník

2016

Číslo

22

Stát

Česká republika

Strany od

31

Strany do

38

Strany počet

8

BibTex

@article{BUT128262,
  author="Tomáš {Marada}",
  title="PID CONTROLER PARAMETERS SETTINGS BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM PURPOSE STABILIZATION",
  journal="Mendel Journal series",
  year="2016",
  volume="2016",
  number="22",
  pages="31--38",
  issn="1803-3814"
}