Title: Control of Inverted Pendulum Using Fractional Order PID Controllers Based on Particle Swarm Optimization

Abstract: Issue of balance in robotics is best represented by the balancing act of the inverted pendulums. With their unstable and nonlinear behaviour, Inverted Pendulum systems are quite popular systems in which various control design methods are applied and performance comparisons are carried out. In this study, in order to control the pendulum angle and car position of the inverted pendulum system, a fractional order PID controller is designed. Gains of the designed controller are optimized by Particle Swarm Optimization method. On the other hand, for the aim of comparison of performance, conventional PID controllers are used for controllers. The optimum values of gains for PID controllers are also found by same optimization algorithm. The simulation results of both controllers are compared for the inverted pendulum.

Keywords: Inverted pendulum; fractional order PID; particle swarm optimization

Başlık: Parçacık Sürüsü Optimizasyonu Kullanılarak Ters Sarkaç Sisteminin Kesir Dereceli PID ile Kontrolü

Özet: Robotik alanında yapılan bilimsel çalışmalarda, denge konusunu en iyi temsil eden örnek ters sarkacın denge hareketidir. Bu sebeple, kararsız ve doğrusal olmayan yapısıyla ters sarkaç sistemleri, kontrol tasarım yöntemlerinin uygulandığı ve performans karşılaştırmasının yapıldığı başlıca sistemlerden biridir. Bu çalışmada, ters sarkaç sisteminde yer alan sarkaç ve araç konumunu kontrol etmek için Parçacık Sürüsü Optimizasyon (PSO) algoritması ile optimize edilen kesir dereceli PID kontrolör tasarımı yapılmıştır. Ayrıca, önerilen kontrolörün performansını test etmek amacıyla, aynı optimizasyon algoritması kullanılarak PID kontrolör tasarlanmıştır. Tasarımı yapılan kontrolörler için kontrol sonuçları simülasyonlarla elde edilerek, grafiksel olarak ters sarkaç sistemi üzerinde performansları karşılaştırılmıştır.

Anahtar kelimeler: Ters sarkaç sistemi; kesir dereceli PID; parçacık sürüsü optimizasyonu

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