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Uncertain nonlinear system control using hybrid fuzzy LQR-sliding mode technique optimized with evolutionary algorithm

Uncertain nonlinear system control using hybrid fuzzy LQR-sliding mode technique optimized with... This paper aims to propose an advanced tracking control of the uncertain nonlinear dynamic system using a novel hybrid fuzzy linear quadratic regulator (LQR)-proportional-integral-derivative (PID) sliding mode control (SMC) optimized by differential evolution (DE) algorithm.Design/methodology/approachFirst, a swing-up and balancing control is presented for an experimental uncertain nonlinear Pendubot system perturbed with friction. The DE-based optimal SMC scheme is used to optimally swing up the Pendubot system to the top equilibrium position. Then the novel hybrid fuzzy-based on LQR fusion function and PID controller optimized by DE algorithm is innovatively applied for balancing and control the position of the first link of the Pendubot in the down-right position with tracking sinusoidal signal reference.FindingsExperimental results demonstrate the robustness and effectiveness of the proposed approach in balancing control for an uncertain nonlinear Pendubot system perturbed with internal friction.Originality/valueThis manuscript is an original research paper and has never been submitted to any other journal. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Engineering Computations Emerald Publishing

Uncertain nonlinear system control using hybrid fuzzy LQR-sliding mode technique optimized with evolutionary algorithm

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Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
0264-4401
DOI
10.1108/ec-08-2018-0356
Publisher site
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Abstract

This paper aims to propose an advanced tracking control of the uncertain nonlinear dynamic system using a novel hybrid fuzzy linear quadratic regulator (LQR)-proportional-integral-derivative (PID) sliding mode control (SMC) optimized by differential evolution (DE) algorithm.Design/methodology/approachFirst, a swing-up and balancing control is presented for an experimental uncertain nonlinear Pendubot system perturbed with friction. The DE-based optimal SMC scheme is used to optimally swing up the Pendubot system to the top equilibrium position. Then the novel hybrid fuzzy-based on LQR fusion function and PID controller optimized by DE algorithm is innovatively applied for balancing and control the position of the first link of the Pendubot in the down-right position with tracking sinusoidal signal reference.FindingsExperimental results demonstrate the robustness and effectiveness of the proposed approach in balancing control for an uncertain nonlinear Pendubot system perturbed with internal friction.Originality/valueThis manuscript is an original research paper and has never been submitted to any other journal.

Journal

Engineering Computations – Emerald Publishing

Published: Aug 15, 2019

Keywords: Differential evolution (DE) algorithm; Optimal hybrid PID-fuzzy sliding mode control; Uncertain nonlinear pendubot system perturbed with friction

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