Genetic algorithm and particle swarm optimization based cascade interval type 2 fuzzy PD controller for rotary inverted pendulum system
type: Item
instance of: scholarly article
title: Genetic algorithm and particle swarm optimization based cascade interval type 2 fuzzy PD controller for rotary inverted pendulum system
zbMATH Open document ID: 1394.93150
DOI: 10.1155/2015/695965
author: Mukhtar Fatihu Hamza
author: Hwa Jen Yap
author: Imtiaz Ahmed Choudhury
published in: Mathematical Problems in Engineering
publication date: 2018-08-27T00:00:00Z
review text: Summary: This paper presents the design of an optimized Interval Type 2 Fuzzy Proportional Derivative Controller (IT2F-PDC) in cascade form for Rotary Inverted Pendulum (RIP) system. The parameters of the IT2F-PDC are optimised by using Genetic Algorithm (GA) and Particle Swarm Optimization (PSO). The goal is to balance the pendulum in upright unstable equilibrium position. The IT2F-PDC which is the extended version of conventional type 1 fuzzy logic controller, improves the control strategy by using the advantage of its footprint of uncertainty for the fuzzy membership function. The performance characteristics considered for the controller are steady state error, settling time, rise time, maximum overshoot, and control energy. Experimental and simulation results indicated that the effectiveness and robustness of the proposed GA- and PSO-based controllers on the RIP with respect to load disturbances, parameter variation, and noise effects have been improved over state-of-the-art method. However, the comparative results for simulation and experiment based on cascade IT2F-PDC indicate that GA-based IT2F-PDC has lower steady state error while PSO-based IT2F-PDC has lower overshoot, settling time, and control energy, but both have almost the same rise time. The proposed control strategy can be regarded as a promising strategy for controlling different unstable and nonlinear systems.
Mathematics Subject Classification ID: 93C42
Mathematics Subject Classification ID: 90C59
zbMATH DE Number: 6927010
MaRDI profile type: Publication
Wikidata QID: Q59118952
full work available at URL: https://doi.org/10.1155/2015/695965
OpenAlex ID: W1532156713
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description: scientific article; zbMATH DE number 6927010