Title: Performance assessment of particle swarm optimisation and differential evolution algorithms on integral sliding mode control of cart-inverted pendulum

Authors: Terkaa J. Shima; Hassan A. Bashir

Addresses: Department of Electrical Engineering, Bayero University, Kano, P.M.B. 3011, Kano, Nigeria ' Department of Electrical Engineering, Bayero University, Kano, P.M.B. 3011, Kano, Nigeria

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.

Keywords: particle swarm optimisation; PSO; differential evolution; integral sliding mode controller; ISMC; cart-inverted pendulum; CIP; uncertain systems.

DOI: 10.1504/IJNDC.2021.117083

International Journal of Nonlinear Dynamics and Control, 2021 Vol.2 No.1, pp.1 - 18

Received: 05 Nov 2020
Accepted: 20 Nov 2020

Published online: 30 Jul 2021 *

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