Abstract
In this paper, An Adaptive Sliding Mode Controller based on bacterial foraging optimization algorithms is proposed for tracking angular position of inverted pendulum. The sliding mode control method is applied for tackling the system nonlinearity and unmodeled dynamics. Adaptive control is usually used to control a system with time varying parameters, parameter uncertainties and unbounded disturbances. Bacterial foraging optimization algorithms are used to optimize gains of Sliding Mode Controller. Simulation results show good robustness properties in presence of known external disturbances with BFOA based Adaptive Sliding Mode Controller as compared to that shown by conventional PID controller.
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Pathak, R.R., Sengupta, A. (2019). Design of Bacterial Foraging Optimization Algorithm Based Adaptive Sliding Mode Controller for Inverted Pendulum. In: Chattopadhyay, S., Roy, T., Sengupta, S., Berger-Vachon, C. (eds) Modelling and Simulation in Science, Technology and Engineering Mathematics. MS-17 2017. Advances in Intelligent Systems and Computing, vol 749. Springer, Cham. https://doi.org/10.1007/978-3-319-74808-5_26
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DOI: https://doi.org/10.1007/978-3-319-74808-5_26
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