TY - JOUR
T1 - Genetic high-gain controller to improve the position perturbation attenuation and compact high-gain controller to improve the velocity perturbation attenuation in inverted pendulums
AU - de Jesús Rubio, José
AU - Hernandez, Mario Alberto
AU - Rosas, Francisco Javier
AU - Orozco, Eduardo
AU - Balcazar, Ricardo
AU - Pacheco, Jaime
N1 - Publisher Copyright:
© 2023 Elsevier Ltd
PY - 2024/2
Y1 - 2024/2
N2 - From the control theory, bigger observer and controller gains are utilized to improve the position perturbation attenuation, while smaller observer and controller gains are utilized to improve the velocity perturbation attenuation. Therefore, it would be interesting to suggest optimizers to find the best observer and controller gains to improve the position or velocity perturbation attenuation. In this investigation, a high-gain controller is suggested to obtain the perturbation attenuation, a genetic high-gain controller is suggested to improve the position perturbation attenuation, and a compact high-gain controller is suggested to improve velocity perturbation attenuation in inverted pendulums. The high-gain controller utilizes a high-gain observer and a high-gain estimator to obtain the state and perturbation estimation. The genetic high-gain controller utilizes a genetic optimizer to find the best observer and controller gains. The compact high-gain controller utilizes a compact optimizer to find the best observer and controller gains. The suggested high-gain controllers are compared with the simplex and bat controllers to improve the position or velocity perturbation attenuation in two inverted pendulums.
AB - From the control theory, bigger observer and controller gains are utilized to improve the position perturbation attenuation, while smaller observer and controller gains are utilized to improve the velocity perturbation attenuation. Therefore, it would be interesting to suggest optimizers to find the best observer and controller gains to improve the position or velocity perturbation attenuation. In this investigation, a high-gain controller is suggested to obtain the perturbation attenuation, a genetic high-gain controller is suggested to improve the position perturbation attenuation, and a compact high-gain controller is suggested to improve velocity perturbation attenuation in inverted pendulums. The high-gain controller utilizes a high-gain observer and a high-gain estimator to obtain the state and perturbation estimation. The genetic high-gain controller utilizes a genetic optimizer to find the best observer and controller gains. The compact high-gain controller utilizes a compact optimizer to find the best observer and controller gains. The suggested high-gain controllers are compared with the simplex and bat controllers to improve the position or velocity perturbation attenuation in two inverted pendulums.
KW - Compact optimizer
KW - Genetic optimizer
KW - High-gain controller
KW - Inverted pendulums
KW - Position perturbation attenuation
KW - Velocity perturbation attenuation
UR - http://www.scopus.com/inward/record.url?scp=85177054321&partnerID=8YFLogxK
U2 - 10.1016/j.neunet.2023.11.029
DO - 10.1016/j.neunet.2023.11.029
M3 - Artículo
C2 - 37972455
AN - SCOPUS:85177054321
SN - 0893-6080
VL - 170
SP - 32
EP - 45
JO - Neural Networks
JF - Neural Networks
ER -