A study of stabilization and swing-up linear control for a single link rotary pendulum
dc.contributor.author | Ben Hazem, Zied | |
dc.contributor.author | Bingül, Zafer | |
dc.date.accessioned | 2024-06-13T20:18:16Z | |
dc.date.available | 2024-06-13T20:18:16Z | |
dc.date.issued | 2022 | |
dc.department | Fakülteler, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü | |
dc.description | 5th International Conference on Theoretical and Applied Computer Science and Engineering (ICTASCE) -- September 29-October 01, 2022 -- Istanbul, Turkey | |
dc.description.abstract | Single link rotary inverted pendulum (SLRIP) is a highly nonlinear control system that has complex dynamic behavior. This type of system requires a high-performance controller for its control. The rotary pendulum system is present as a control problem challenge because the system often moves to an uncontrolled state. The problem consists to balance one or more attached pendulums vertically in the upward position on a rotational arm which has a single degree of freedom and turns horizontally on only one axis. The aim is to find a control strategy that provides accurate performance with respect to the angles of the pendulums and the horizontal arm. This paper proposes a study of a PID, Linear Quadratic Regulator (LQR) stabilization control, and swing-up linear control based on LQR. The gains of the PID and LQR controllers are optimized by using the particle swarm optimization (PSO) algorithm to provide more robust controllers. A dynamic mechanical simulation study was conducted on MATLAB/SimMechanics obtained by the designed 3D-CAD models of the SLRIP. According to experimental results, the systems demonstrate the efficiency and robustness of all controllers. | |
dc.description.sponsorship | IEEE, IEEE Algeria Sect, Istanbul Gedik Univ, AJRESD Journal, Lab Dev Durable Informatique | |
dc.identifier.doi | 10.1109/ICTACSE50438.2022.10009648 | |
dc.identifier.endpage | 65 | |
dc.identifier.isbn | 979-8-3503-3162-2 | |
dc.identifier.scopus | 2-s2.0-85147091161 | |
dc.identifier.scopusquality | N/A | |
dc.identifier.startpage | 60 | |
dc.identifier.uri | https://doi.org/10.1109/ICTACSE50438.2022.10009648 | |
dc.identifier.uri | https://hdl.handle.net/11501/1293 | |
dc.identifier.wos | WOS:000932842500010 | |
dc.identifier.wosquality | N/A | |
dc.indekslendigikaynak | Web of Science | |
dc.indekslendigikaynak | Scopus | |
dc.institutionauthor | Ben Hazem, Zied | |
dc.institutionauthorid | 0000-0002-7244-2719 | |
dc.language.iso | en | |
dc.publisher | IEEE-Institute of Electrical and Electronics Engineers Inc. | |
dc.relation.ispartof | 5th International Conference on Theoretical and Applied Computer Science and Engineering (ICTASCE) | |
dc.relation.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | |
dc.rights | info:eu-repo/semantics/closedAccess | |
dc.subject | Single Link Rotary Inverted Pendulum (SLRIP) | |
dc.subject | PID | |
dc.subject | LQR | |
dc.subject | Stabilization Control | |
dc.subject | Swing Up Control | |
dc.subject | PSO | |
dc.title | A study of stabilization and swing-up linear control for a single link rotary pendulum | |
dc.type | Conference Object |
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