Fuzzy Sliding Mode Control of Double Inverted Pendulum Based on Linear Adaptive QPSO Tuning

Authors

Xin Jing, 1. School of Automation & Information Engineering, Xi'an University of Technology, Xi'an 710048, China;;2. Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing, Xi'an 710048, China;;
Xiangshuai Han, 1. School of Automation & Information Engineering, Xi'an University of Technology, Xi'an 710048, China;;2. Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing, Xi'an 710048, China;;
Yanming Liang, 1. School of Automation & Information Engineering, Xi'an University of Technology, Xi'an 710048, China;;2. Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing, Xi'an 710048, China;;
Cuicui Yan, 3. School of Engineering, Xi'an Siyuan University, Xi'an 710043, China;

Abstract

Abstract: To solve the problem of balancing control of linear double inverted pendulum, fuzzy sliding mode control method based on linear adaptive QPSO tuning is presented. According to the coupling property of the linear double inverted pendulum system, decoupling is applied twice and fuzzy sliding mode balancing controller is designed. The parameters of fuzzy sliding mode controller are determined by the linear adaptive quantum particle swarm optimization algorithm (LAQPSO). Linear double inverted pendulum balancing control simulation results show that the proposed method can effectively reduce the chattering phenomenon existing in the traditional sliding mode controller and improve the accuracy and rapidity of balancing control of linear double inverted pendulum system. Physical experiment results show that the proposed method is reasonable and effective.

Recommended Citation

Jing, Xin; Han, Xiangshuai; Liang, Yanming; and Yan, Cuicui (2020) "Fuzzy Sliding Mode Control of Double Inverted Pendulum Based on Linear Adaptive QPSO Tuning," Journal of System Simulation: Vol. 29: Iss. 11, Article 42.
DOI: 10.16182/j.issn1004731x.joss.201711042
Available at: https://dc-china-simulation.researchcommons.org/journal/vol29/iss11/42

First Page

2909

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201711042

Last Page

2917

CLC

TP24

Recommended Citation

Xin Jing, Han Xiangshuai, Liang Yanming, Yan Cuicui. Fuzzy Sliding Mode Control of Double Inverted Pendulum Based on Linear Adaptive QPSO Tuning[J]. Journal of System Simulation, 2017, 29(11): 2909-2917.

DOI

10.16182/j.issn1004731x.joss.201711042