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Optimization of Model Reference Adaptive Controller for the Inverted Pendulum System Using CCPSO and DE Algorithms

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Abstract

The main aim of this paper is to propose two variants of bio-inspired algorithm, Constriction Coefficient Particle Swarm Optimization (CCPSO) and Differential Evolution (DE), which determine optimal parameters of Proportional-Integral-Derivative (PID) controller. To achieve this purpose, the PID controller has been plugged to the Model Reference Adaptive Controller (MRAC) that balances Inverted Pendulum (IP) with nonlinear characteristic in vertical-upright position. For comparison purpose, efficiency of these intelligent approaches to adjust MRAC parameters has been evaluated in terms of time response performance. Finally, the overall simulation results demonstrate that both the algorithms yield acceptable response in controlling the nonlinear model of IP system. However, the performance of DE algorithm is better than CCPSO in terms of transient response characteristics.

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Authors and Affiliations

  1. Department of Electrical Engineering, Ahrar Institute of Technology and Higher Education, Rasht, Iran

    Elham Yazdani Bejarbaneh

  2. Department of Mechanical Engineering, Faculty of Engineering, University of Guilan, Rasht, Iran

    Ahmad Bagheri

  3. Department of Civil Engineering, Ahrar Institute of Technology and Higher Education, Rasht, Iran

    Behnam Yazdani Bejarbaneh

  4. Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Johor, 81310, UTM Skudai, Malaysia

    Salinda Buyamin

Authors
  1. Elham Yazdani Bejarbaneh
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  2. Ahmad Bagheri
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  3. Behnam Yazdani Bejarbaneh
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  4. Salinda Buyamin
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Correspondence to Elham Yazdani Bejarbaneh.

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Bejarbaneh, E.Y., Bagheri, A., Bejarbaneh, B.Y. et al. Optimization of Model Reference Adaptive Controller for the Inverted Pendulum System Using CCPSO and DE Algorithms. Aut. Control Comp. Sci. 52, 256–267 (2018). https://doi.org/10.3103/S0146411618040041

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  • DOI: https://doi.org/10.3103/S0146411618040041

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