A study of stabilization and swing-up linear control for a single link rotary pendulum

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dc.contributor.authorBen Hazem, Zied
dc.contributor.authorBingül, Zafer
dc.date.accessioned2024-06-13T20:18:16Z
dc.date.available2024-06-13T20:18:16Z
dc.date.issued2022
dc.departmentFakülteler, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü
dc.description5th International Conference on Theoretical and Applied Computer Science and Engineering (ICTASCE) -- September 29-October 01, 2022 -- Istanbul, Turkey
dc.description.abstractSingle 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.sponsorshipIEEE, IEEE Algeria Sect, Istanbul Gedik Univ, AJRESD Journal, Lab Dev Durable Informatique
dc.identifier.doi10.1109/ICTACSE50438.2022.10009648
dc.identifier.endpage65
dc.identifier.isbn979-8-3503-3162-2
dc.identifier.scopus2-s2.0-85147091161
dc.identifier.scopusqualityN/A
dc.identifier.startpage60
dc.identifier.urihttps://doi.org/10.1109/ICTACSE50438.2022.10009648
dc.identifier.urihttps://hdl.handle.net/11501/1293
dc.identifier.wosWOS:000932842500010
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorBen Hazem, Zied
dc.institutionauthorid0000-0002-7244-2719
dc.language.isoen
dc.publisherIEEE-Institute of Electrical and Electronics Engineers Inc.
dc.relation.ispartof5th International Conference on Theoretical and Applied Computer Science and Engineering (ICTASCE)
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectSingle Link Rotary Inverted Pendulum (SLRIP)
dc.subjectPID
dc.subjectLQR
dc.subjectStabilization Control
dc.subjectSwing Up Control
dc.subjectPSO
dc.titleA study of stabilization and swing-up linear control for a single link rotary pendulum
dc.typeConference Object

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