Design and Performance Evaluation of LQR and Optimized Sliding Mode Controllers for a Class of Underactuated Nonlinear Systems
T. R. Dil Kumar, S. J. Mija
Abstract
This paper addresses the design of linear quadratic regulator and sliding mode controllers for a class of under actuated system represented in the cascaded form. The parameters of sliding mode controller are optimized using particle swarm optimization. The performance of the designed controllers for stabilization of inverted pendulum system and translational oscillator with rotating actuator system are analyzed in MATLAB/Simulink platform. The optimized sliding mode controller shows a better performance when the system is subjected to external disturbances.
Topics & Concepts
Control theory (sociology)UnderactuationInverted pendulumLinear-quadratic regulatorSliding mode controlNonlinear systemActuatorMATLABParticle swarm optimizationController (irrigation)Mode (computer interface)EngineeringComputer scienceControl engineeringControl (management)PhysicsMachine learningOperating systemQuantum mechanicsArtificial intelligenceElectrical engineeringAgronomyBiologyAdaptive Control of Nonlinear SystemsControl and Dynamics of Mobile RobotsDynamics and Control of Mechanical Systems