Performance assessment of particle swarm optimisation and differential evolution algorithms on integral sliding mode control of cart-inverted pendulum
by Terkaa J. Shima; Hassan A. Bashir
International Journal of Nonlinear Dynamics and Control (IJNDC), Vol. 2, No. 1, 2021

Abstract: In this paper, optimal parameters of integral sliding mode controller (ISMC) that balances a cart-inverted pendulum (CIP) system in the unstable equilibrium position are determined using both PSO and DE algorithms. For comparison purposes, the performances of the PSO-ISMC and the DE-ISMC on the stabilisation of the CIP system in its unstable equilibrium position are evaluated. Simulation results have shown that both the PSO-ISMC and the DE-ISMC are capable of stabilising the CIP system in the unstable equilibrium. Importantly, the experiments successfully identified the particular situations in which the PSO-ISMC and the DE-ISMC algorithms perform best depending on the position of the inverted pendulum with respect to the unstable equilibrium position.

Online publication date: Mon, 16-Aug-2021

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