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Fuzzy logic and gradient descent-based optimal adaptive robust controller with inverted pendulum verification

Author

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  • Hadipour Lakmesari, S.
  • Mahmoodabadi, M.J.
  • Yousef Ibrahim, M.

Abstract

This paper develops an adaptive robust combination of feedback linearization (FL) and sliding mode controller (SMC) based on fuzzy rules and gradient descent laws. The new suggested control algorithm is tested to stabilize a fourth-order under-actuated nonlinear inverted pendulum system. More precisely, the reliable feedback linearization approach and the robust SMC controller are combined to design a stable control effort. In order to enhance the performance of the suggested controller, an adaptation technique as long as fuzzy rules are applied to update the control gains and the boundary layer parameter. Then, a novel evolutionary algorithm termed multi-objective ant lion optimizer (MOALO) is implemented to determine the control coefficients. The analysis and results conducted on the inverted pendulum system demonstrate the desired performance of the proposed control scheme by providing an optimal smooth control input, suitable tracking performance, and proper time responses.

Suggested Citation

  • Hadipour Lakmesari, S. & Mahmoodabadi, M.J. & Yousef Ibrahim, M., 2021. "Fuzzy logic and gradient descent-based optimal adaptive robust controller with inverted pendulum verification," Chaos, Solitons & Fractals, Elsevier, vol. 151(C).
    • Handle: RePEc:eee:chsofr:v:151:y:2021:i:c:s0960077921006111
    DOI: 10.1016/j.chaos.2021.111257
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    Citations

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    Cited by:

    1. Mahmoodabadi, M.J., 2023. "An optimal robust fuzzy adaptive integral sliding mode controller based upon a multi-objective grey wolf optimization algorithm for a nonlinear uncertain chaotic system," Chaos, Solitons & Fractals, Elsevier, vol. 167(C).
    2. Li, Yuanen & Zhang, Huasheng & Xie, Xiangpeng & Xia, Jianwei, 2023. "Stability analysis of a cart-pendulum model with variable convergence rate: A sliding mode control approach for impulsive stochastic systems," Chaos, Solitons & Fractals, Elsevier, vol. 175(P2).
    3. Zeghlache, Samir & Ghellab, Mohammed Zinelaabidine & Djerioui, Ali & Bouderah, Brahim & Benkhoris, Mohamed Fouad, 2023. "Adaptive fuzzy fast terminal sliding mode control for inverted pendulum-cart system with actuator faults," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 210(C), pages 207-234.
    4. Zhao, Yanwei & Wang, Huanqing & Xu, Ning & Zong, Guangdeng & Zhao, Xudong, 2023. "Reinforcement learning-based decentralized fault tolerant control for constrained interconnected nonlinear systems," Chaos, Solitons & Fractals, Elsevier, vol. 167(C).

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