Modified PSO based PID sliding mode control for inverted pendulum

Abstract

Trajectory tracking and stabilization of a nonlinear single stage inverted pendulum is a complicated control problem, as nonlinearity is present inherently and external factors affect the equilibrium position. Sliding mode control (SMC) is a robust control technique, most popular for nonlinear system's controlling. In this paper, a new model based robust control law, called PID (Proportional-Integral-Derivative) sliding mode control is designed using modified particle swarm intelligent optimization (MPSO) for second order nonlinear inverted pendulum plant. This paper throws light on the sliding surface design and highlights the important features of sliding mode, such as robustness and higher convergence, through extensive mathematical modelling. Siding mode control law is derived using Lyapunov stability approach and its asymptotic stability is proved mathematically and simulations shows its validity. MPSO PID-SMC control will stabilize the highly nonlinear Inverted Pendulum system, will compensate disturbance and uncertainty and reduces tracking error. Simulations and experimental application is done on the system and are presented to make a quantitative comparison with PID, traditional SMC and MPSO PID-SMC.