TY - GEN
T1 - Optimal-Robust Controller Applied to an Inverted Pendulum-Cart System
T2 - 1st International Conference on Applied Technologies, ICAT 2019
AU - Herrera, Marco
AU - Aguas, Xavier
AU - Gonzales, Oscar
AU - Camacho, Oscar
N1 - Publisher Copyright:
© 2020, Springer Nature Switzerland AG.
PY - 2020
Y1 - 2020
N2 - In this work a performance graphic analysis approach based on radar charts for an optimal-robust controller with different switching functions is presented. For purpose of taking an overall performance criteria of control algorithm, this graphic analysis is used. The stabilization of the Car-Pendulum System is performed through the optimal-robust controller based on the Variable Structure Control (VSC) and the Linear Quadratic Regulator (LQR) as sliding surface. Different chattering reduction methods are tuned by using Particle Swarm Optimization (PSO) methodology. The performance based on radar graphs are performed using ISE, IAE, and TV indexes through initial conditions, disturbances and uncertain parameter tests by simulations.
AB - In this work a performance graphic analysis approach based on radar charts for an optimal-robust controller with different switching functions is presented. For purpose of taking an overall performance criteria of control algorithm, this graphic analysis is used. The stabilization of the Car-Pendulum System is performed through the optimal-robust controller based on the Variable Structure Control (VSC) and the Linear Quadratic Regulator (LQR) as sliding surface. Different chattering reduction methods are tuned by using Particle Swarm Optimization (PSO) methodology. The performance based on radar graphs are performed using ISE, IAE, and TV indexes through initial conditions, disturbances and uncertain parameter tests by simulations.
KW - Inverted pendulum-cart system
KW - LQR
KW - PSO
KW - Radar chart
KW - VSC
UR - https://www.scopus.com/pages/publications/85082400485
U2 - 10.1007/978-3-030-42531-9_21
DO - 10.1007/978-3-030-42531-9_21
M3 - Contribución a la conferencia
AN - SCOPUS:85082400485
SN - 9783030425302
T3 - Communications in Computer and Information Science
SP - 255
EP - 269
BT - Applied Technologies - 1st International Conference, ICAT 2019, Proceedings
A2 - Botto-Tobar, Miguel
A2 - Zambrano Vizuete, Marcelo
A2 - Torres-Carrión, Pablo
A2 - Montes León, Sergio
A2 - Pizarro Vásquez, Guillermo
A2 - Durakovic, Benjamin
PB - Springer
Y2 - 3 December 2019 through 5 December 2019
ER -