Design and Implementation of a Fuzzy Logic Controller for Inverted Pendulum System Based on Evolutionary Optimization Algorithms

Ghaliba, Ahmed F.; Oglah, Ahmed A.

doi:10.30684/etj.v38i3A.400

	Design and Implementation of a Fuzzy Logic Controller for Inverted Pendulum System Based on Evolutionary Optimization Algorithms
Engineering and Technology Journal
Article 9, Volume 38, 3A, 2020, Pages 361-374 PDF (640.63 K)
DOI: 10.30684/etj.v38i3A.400
Authors
Ahmed F. Ghaliba¹; Ahmed A. Oglah^* ²
¹Department of Control and Systems Engineering, University of Technology, Baghdad, Iraq
²b Department of Control and Systems Engineering, University of Technology, Baghdad, Iraq
Abstract
The inverted pendulum is a standard classical problem in the branch of control and systems. If a cart is bushed by force then its position and angle of the pendulum will be changed. Several controllers may employed, keeping the pendulum arm upright by controlling at the cart location. In this search paper, the fuzzy-like PID (FPID) controller has been used to control the inverted pendulum, and the parameters of the controller are tuned with several evolutionary optimization algorithms like a genetic algorithm (GA), ant colony optimization (ACO), and social spider optimization (SSO.) The result of tuned FPID with evolutionary optimization is compared with conventional PID, and it shows that FPID with SSO has been given the best result.
Keywords
Inverted pendulum; Mathematical Model; fuzzy PID; genetic. Algorithm; Ant Colony Optimization; social Spider optimization

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