Design, Tuning, and Experimental Validation of Switched Fractional-Order PID Controllers for an Inverted Pendulum System DOI Creative Commons

Matias Fernández-Jorquera,

Marco Zepeda-Rabanal,

Norelys Aguila‐Camacho

и другие.

Fractal and Fractional, Год журнала: 2025, Номер 9(4), С. 234 - 234

Опубликована: Апрель 8, 2025

Stabilizing inverted pendulum systems remains a challenging and open control problem due to their inherent instability relevance in wide range of real-world applications, including robotics aerospace systems. While PID fractional-order (FOPID) controllers offer distinct advantages, they individually suffer from trade-offs between performance energy. This paper presents the design, implementation, experimental validation switched SW FOPID-PID controller for stabilization an (InvP) system, aiming achieve improved balance system energy used. The was tuned offline using particle swarm optimization (PSO) mathematical model simulation. Additional FOPID were also designed, validated comparison purposes. Their assessed through key indicators, ITAE, ISI, settling time, peak values, variance compared against manufacturer-provided controller. results demonstrated that all three designed outperformed manufacturer’s under nominal conditions. achieved best overall performance, balancing efficiency response quality. Under external disturbances, exhibited superior robustness, with being most effective, responding quickly disturbances while minimizing positional angular errors. Still, this research is limited specific plant switching strategy; thus, further on other criteria necessary generalize these findings.

Язык: Английский

Design, Tuning, and Experimental Validation of Switched Fractional-Order PID Controllers for an Inverted Pendulum System DOI Creative Commons

Matias Fernández-Jorquera,

Marco Zepeda-Rabanal,

Norelys Aguila‐Camacho

и другие.

Fractal and Fractional, Год журнала: 2025, Номер 9(4), С. 234 - 234

Опубликована: Апрель 8, 2025

Stabilizing inverted pendulum systems remains a challenging and open control problem due to their inherent instability relevance in wide range of real-world applications, including robotics aerospace systems. While PID fractional-order (FOPID) controllers offer distinct advantages, they individually suffer from trade-offs between performance energy. This paper presents the design, implementation, experimental validation switched SW FOPID-PID controller for stabilization an (InvP) system, aiming achieve improved balance system energy used. The was tuned offline using particle swarm optimization (PSO) mathematical model simulation. Additional FOPID were also designed, validated comparison purposes. Their assessed through key indicators, ITAE, ISI, settling time, peak values, variance compared against manufacturer-provided controller. results demonstrated that all three designed outperformed manufacturer’s under nominal conditions. achieved best overall performance, balancing efficiency response quality. Under external disturbances, exhibited superior robustness, with being most effective, responding quickly disturbances while minimizing positional angular errors. Still, this research is limited specific plant switching strategy; thus, further on other criteria necessary generalize these findings.

Язык: Английский

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