The double inverted pendulum system is a less-driven, multi-parameter, highly nonlinear system. The sliding mode controller is designed to make the double pendulum stable at the upright equilibrium position. But, it is difficult to determine the sliding surface in design, which is the key to the performance of the control system. The improved genetic strategy is applied to search the optimal sliding surface and other important parameters. The improved genetic strategy effectively improves the ability of the global convergence and local search capabilities, enhancing the diversity of the population and avoiding the premature convergence. Simulation experiment shows that the sliding mode controller optimized by the improved genetic algorithm stabilizes the double inverted pendulum with satisfied performance.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Optimization of sliding mode controller for double inverted pendulum based on genetic algorithm


    Contributors:
    Huang wei, (author) / Qi Qian, (author) / He Qiang, (author) / Huang Qiaoli, (author) / Zhao Yixin, (author) / Xiao Lin, (author)


    Publication date :

    2008-12-01


    Size :

    697034 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    System identification of the double inverted pendulum based on genetic algorithm

    Qi Qian, / Huang, Wei / Zhao Yixin, et al. | IEEE | 2008


    Quantum Fuzzy Controller for Inverted Pendulum System Based on Quantum Genetic Optimization

    Murase, Kazuyuki / Monalisa Chowdhury Urmi, Pintu Chandra Shill,Bishnu Sarker | BASE | 2017

    Free access


    Optimized Controller for Inverted Pendulum

    Yusuf, Lukman A. / Magaji, Nuraddeen | BASE | 2016

    Free access

    CONTROLLER OF INVERTED PENDULUM TYPE VEHICLE

    KUROSU TOMOHIRO | European Patent Office | 2021

    Free access