文章基本信息

标题：Optimal design of an adaptive robust proportional-integral-derivative controller based upon sliding surfaces for under-actuated dynamical systems
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作者：M.J. Mahmoodabadi ; S. Safi Jahanshahi
期刊名称：Cogent Engineering
电子版ISSN：2331-1916
出版年度：2021
卷号：8
期号：1
页码：1886738
DOI：10.1080/23311916.2021.1886738
出版社：Taylor and Francis Ltd
摘要：This paper presents a novel adaptive robust proportional-integral-derivative (PID) controller for under-actuated dynamical systems via employing the advantages of the PID control and sliding surfaces. The related control gains as adjustable parameters are computed during the control process using gradient descent techniques and the chain derivative rule. Based on the design of control rules, the genetic algorithm optimization is utilized in order to find the optimal values of the learning rates and initial conditions of the control gains. The suggested strategy is implemented successfully to stabilize the cart-pole and ball-beam systems. Lastly, the simulation results demonstrate the efficacy of the proposed controller to control such under-actuated dynamical systems as well as its superiority in comparison with other recently introduced methods.
关键词：Adaptive robust controller ; proportional-integral-derivative controller ; sliding mode ; under-actuated dynamical systems ; genetic algorithm optimization