A Robust Hybrid MRAPID Controller Design for an Underactuated Nonlinear System With Parametric Uncertainty
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-o...
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| Format: | Article |
| Language: | English |
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Wiley
2024-01-01
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| Series: | Journal of Engineering |
| Online Access: | http://dx.doi.org/10.1155/2024/8838138 |
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| _version_ | 1849407726868758528 |
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| author | Ahmed Abduljabbar Mahmood Mohamed Abderrahim |
| author_facet | Ahmed Abduljabbar Mahmood Mohamed Abderrahim |
| author_sort | Ahmed Abduljabbar Mahmood |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-478c26bfd87c4f97987dc3d1969af727 |
| institution | Kabale University |
| issn | 2314-4912 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Engineering |
| spelling | doaj-art-478c26bfd87c4f97987dc3d1969af7272025-08-20T03:35:58ZengWileyJournal of Engineering2314-49122024-01-01202410.1155/2024/8838138A Robust Hybrid MRAPID Controller Design for an Underactuated Nonlinear System With Parametric UncertaintyAhmed Abduljabbar Mahmood0Mohamed Abderrahim1Department of Systems Engineering and AutomationDepartment of Systems Engineering and AutomationThis 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.http://dx.doi.org/10.1155/2024/8838138 |
| spellingShingle | Ahmed Abduljabbar Mahmood Mohamed Abderrahim A Robust Hybrid MRAPID Controller Design for an Underactuated Nonlinear System With Parametric Uncertainty Journal of Engineering |
| title | A Robust Hybrid MRAPID Controller Design for an Underactuated Nonlinear System With Parametric Uncertainty |
| title_full | A Robust Hybrid MRAPID Controller Design for an Underactuated Nonlinear System With Parametric Uncertainty |
| title_fullStr | A Robust Hybrid MRAPID Controller Design for an Underactuated Nonlinear System With Parametric Uncertainty |
| title_full_unstemmed | A Robust Hybrid MRAPID Controller Design for an Underactuated Nonlinear System With Parametric Uncertainty |
| title_short | A Robust Hybrid MRAPID Controller Design for an Underactuated Nonlinear System With Parametric Uncertainty |
| title_sort | robust hybrid mrapid controller design for an underactuated nonlinear system with parametric uncertainty |
| url | http://dx.doi.org/10.1155/2024/8838138 |
| work_keys_str_mv | AT ahmedabduljabbarmahmood arobusthybridmrapidcontrollerdesignforanunderactuatednonlinearsystemwithparametricuncertainty AT mohamedabderrahim arobusthybridmrapidcontrollerdesignforanunderactuatednonlinearsystemwithparametricuncertainty AT ahmedabduljabbarmahmood robusthybridmrapidcontrollerdesignforanunderactuatednonlinearsystemwithparametricuncertainty AT mohamedabderrahim robusthybridmrapidcontrollerdesignforanunderactuatednonlinearsystemwithparametricuncertainty |