Optimal PID Control of Spatial Inverted Pendulum with Big Bang-Big Crunch Optimization

doi:10.1109/JAS.2018.7511267

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	Optimal PID Control of Spatial Inverted Pendulum with Big Bang-Big Crunch Optimization
	Jia-Jun Wang; Tufan Kumbasar
刊名	IEEE/CAA Journal of Automatica Sinica
	2020
卷号	7 期号:3 页码:822-832
关键词	Big Bang-Big Crunch (BBBC) optimal PID control spatial inverted pendulum (SIP) spatial trajectory tracking
ISSN号	2329-9266
DOI	10.1109/JAS.2018.7511267
英文摘要	As the extension of the linear inverted pendulum (LIP) and planar inverted pendulum (PIP), this paper proposes a novel spatial inverted pendulum (SIP). The SIP is the most general inverted pendulum (IP) than any existing IP. The model of the SIP is presented for the first time. The SIP inherits all the characteristics of the LIP and the PIP, which is a nonlinear, unstable and underactuated system. The SIP has five degrees of motion freedom and three control forces. Thus, it is a multiple-input and multiple-output (MIMO) system with nonlinear dynamics. To realize the spatial trajectory tracking of the SIP, the control structure with five PID controllers will be designed. The parameter tuning of the multiple PIDs is a challenging work for the proposed SIP model. To alleviate the difficulties of the parameter tuning for the multiple PID controllers, optimal PIDs can be achieved with the help of Big Bang-Big Crunch (BBBC) optimization. The BBBC algorithm can successfully optimize the parameters of the multiple PID controllers with high convergence speed. The optimization performance index of the BBBC algorithm is compared with that of the particle swarm optimization (PSO). Simulation results certify the rightness and effectiveness of the proposed control and optimization methods.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/43000]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Jia-Jun Wang,Tufan Kumbasar. Optimal PID Control of Spatial Inverted Pendulum with Big Bang-Big Crunch Optimization[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(3):822-832.
APA	Jia-Jun Wang,&Tufan Kumbasar.(2020).Optimal PID Control of Spatial Inverted Pendulum with Big Bang-Big Crunch Optimization.IEEE/CAA Journal of Automatica Sinica,7(3),822-832.
MLA	Jia-Jun Wang,et al."Optimal PID Control of Spatial Inverted Pendulum with Big Bang-Big Crunch Optimization".IEEE/CAA Journal of Automatica Sinica 7.3(2020):822-832.