Robust stabilisation of rotary inverted pendulum using intelligently optimised nonlinear self-adaptive dual fractional-order PD controllers

DOI10.1080/00207721.2019.1615575zbMATH Open1483.93513OpenAlexW2944372509MaRDI QIDQ5025901FDOQ5025901

Authors: Omer Saleem, Khalid Mahmood-Ul-Hasan 

Publication date: 7 February 2022

Published in: International Journal of Systems Science. Principles and Applications of Systems and Integration (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207721.2019.1615575

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zbMATH Keywords

fractional calculusparticle swarm optimisationproportional-derivative controlself-tuning controlrotary inverted pendulum

Mathematics Subject Classification ID

Approximation methods and heuristics in mathematical programming (90C59) Fractional derivatives and integrals (26A33) Nonlinear systems in control theory (93C10) Adaptive or robust stabilization (93D21)

Cites Work

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Cited In (4)

• Stabilization of unstable equilibrium point of rotary inverted pendulum using fractional controller
• Performance analysis and experimental validation of 2-DOF fractional-order controller for underactuated rotary inverted pendulum
• Maximum likelihood iterative identification approaches for multivariable equation-error moving average systems
• Robustness enhancement of IDA-PBC controller in stabilising the inertia wheel inverted pendulum: theory and real-time experiments

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