A Robust Hybrid MRAPID Controller Design for an Underactuated Nonlinear System With Parametric Uncertainty Articles uri icon

publication date

  • October 2024

start page

  • 1

end page

  • 23

issue

  • 1, 838138

volume

  • 2024

International Standard Serial Number (ISSN)

  • 2314-4904

Electronic International Standard Serial Number (EISSN)

  • 2314-4912

abstract

  • This paper presents an optimal design and simulation of a novel enhanced model reference adaptive proportional–integral–derivative controller (MRAPIDC) for underactuated nonlinear systems with parametric uncertainty. The controller is applied to a cart-inverted pendulum mechanical system, a fourth-order, nonminimum phase system with pronounced nonlinearity and unstable dynamics. This system includes a single input and multiple outputs, specifically the position and velocity of the cart, as well as the angle and angular velocity of the inverted pendulum arm. The main objective of the proposed controller is to maintain the pendulum in an upright position against gravity while moving the cart to a desired displacement regardless of parametric uncertainty, input variation, external disturbances, and random noise. The hybrid controller design is developed by combining the MRAPIDC design with controller gains applied to each output and incorporating the system adaptation error in a specific configuration. Optimal performance is achieved through parameter tuning via the social spider optimization (SSO) algorithm, and MIT (Massachusetts Institute of Technology) rule criteria are employed to ensure system stability. Performance improvements are demonstrated through several error indices, showing enhanced transient and steady-state responses compared to both the reference model adaptive controller and the conventional proportional–integral–derivative (PID) controller. The proposed controller can effectively achieve system stability with a short settling time of 2.55 s and establishes a steady swinging balance within 2.9 s.

subjects

  • Robotics and Industrial Informatics

keywords

  • hybrid mrapidc; inverted pendulum on cart system; mrapidc; sso algorithm; under-actuated nonlinear system,and parametric uncertainty