{"title":"粒子群优化与差分进化算法在小车倒立摆积分滑模控制中的性能评价","authors":"Terkaa J. Shima, H. Bashir","doi":"10.1504/ijndc.2021.117083","DOIUrl":null,"url":null,"abstract":"In this paper, optimal parameters of integral sliding mode controller (ISMC) that balances a cart-inverted pendulum (CIP) system in the unstable equilibrium position are determined using both PSO and DE algorithms. For comparison purposes, the performances of the PSO-ISMC and the DE-ISMC on the stabilisation of the CIP system in its unstable equilibrium position are evaluated. Simulation results have shown that both the PSO-ISMC and the DE-ISMC are capable of stabilising the CIP system in the unstable equilibrium. Importantly, the experiments successfully identified the particular situations in which the PSO-ISMC and the DE-ISMC algorithms perform best depending on the position of the inverted pendulum with respect to the unstable equilibrium position.","PeriodicalId":249374,"journal":{"name":"International Journal of Nonlinear Dynamics and Control","volume":"180 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Performance assessment of particle swarm optimisation and differential evolution algorithms on integral sliding mode control of cart-inverted pendulum\",\"authors\":\"Terkaa J. Shima, H. Bashir\",\"doi\":\"10.1504/ijndc.2021.117083\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, optimal parameters of integral sliding mode controller (ISMC) that balances a cart-inverted pendulum (CIP) system in the unstable equilibrium position are determined using both PSO and DE algorithms. For comparison purposes, the performances of the PSO-ISMC and the DE-ISMC on the stabilisation of the CIP system in its unstable equilibrium position are evaluated. Simulation results have shown that both the PSO-ISMC and the DE-ISMC are capable of stabilising the CIP system in the unstable equilibrium. Importantly, the experiments successfully identified the particular situations in which the PSO-ISMC and the DE-ISMC algorithms perform best depending on the position of the inverted pendulum with respect to the unstable equilibrium position.\",\"PeriodicalId\":249374,\"journal\":{\"name\":\"International Journal of Nonlinear Dynamics and Control\",\"volume\":\"180 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-07-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Nonlinear Dynamics and Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1504/ijndc.2021.117083\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Nonlinear Dynamics and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1504/ijndc.2021.117083","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Performance assessment of particle swarm optimisation and differential evolution algorithms on integral sliding mode control of cart-inverted pendulum
In this paper, optimal parameters of integral sliding mode controller (ISMC) that balances a cart-inverted pendulum (CIP) system in the unstable equilibrium position are determined using both PSO and DE algorithms. For comparison purposes, the performances of the PSO-ISMC and the DE-ISMC on the stabilisation of the CIP system in its unstable equilibrium position are evaluated. Simulation results have shown that both the PSO-ISMC and the DE-ISMC are capable of stabilising the CIP system in the unstable equilibrium. Importantly, the experiments successfully identified the particular situations in which the PSO-ISMC and the DE-ISMC algorithms perform best depending on the position of the inverted pendulum with respect to the unstable equilibrium position.