A Study of Stabilization and Swing-up Linear Control for a Single Link Rotary Pendulum

Basit Öğe Kaydı
dc.authoridBINGUL, ZAFER/0000-0002-9777-9203
dc.authoridBEN HAZEM, ZIED/0000-0002-7244-2719
dc.authorwosidBINGUL, ZAFER/B-9243-2008
dc.authorwosidBEN HAZEM, ZIED/IAP-5661-2023
dc.contributor.authorBen Hazem, Zied
dc.contributor.authorBingul, Zafer
dc.date.accessioned2024-06-13T20:18:16Z
dc.date.available2024-06-13T20:18:16Z
dc.date.issued2022
dc.departmentİstanbul Gedik Üniversitesien_US
dc.description5th International Conference on Theoretical and Applied Computer Science and Engineering (ICTASCE) -- SEP 29-OCT 01, 2022 -- Istanbul, TURKEYen_US
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.en_US
dc.description.sponsorshipIEEE,IEEE Algeria Sect,Istanbul Gedik Univ,AJRESD Journal,Lab Dev Durable Informatiqueen_US
dc.identifier.doi10.1109/ICTACSE50438.2022.10009648
dc.identifier.endpage65en_US
dc.identifier.isbn979-8-3503-3162-2
dc.identifier.scopus2-s2.0-85147091161en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage60en_US
dc.identifier.urihttps://doi.org/10.1109/ICTACSE50438.2022.10009648
dc.identifier.urihttps://hdl.handle.net/11501/1293
dc.identifier.wosWOS:000932842500010en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartof2022 International Conference on Theoretical and Applied Computer Science and Engineering (Ictasce)en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectSingle Link Rotary Inverted Pendulum (Slrip)en_US
dc.subjectPiden_US
dc.subjectLqren_US
dc.subjectStabilization Controlen_US
dc.subjectSwing Up Controlen_US
dc.subjectPsoen_US
dc.subjectInverted Pendulumen_US
dc.subjectLqren_US
dc.titleA Study of Stabilization and Swing-up Linear Control for a Single Link Rotary Pendulumen_US
dc.typeConference Objecten_US

Dosyalar

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu