Design of optimized fuzzy cascade controllers by means of Hierarchical Fair Competition-based Genetic Algorithms

摘要: In this study, we present a design of an optimized fuzzy cascade controller based on Hierarchical Fair Competition-based Genetic Algorithms (HFCGA) for rotary inverted pendulum system. system, one controls the movement through adjustment rotating arm. The objective is to control position arm and make maintain unstable equilibrium point at vertical position. To scheme which consists two controllers arrange in cascaded topology. parameters are by means HFCGA algorithm. comprises located loops. An inner loop governs while outer modifies set implied changes angle pendulum. being computationally effective Parallel Algorithm (PGA) has been developed eliminate effect premature convergence encountered Serial (SGA). It emerged as optimization vehicle deal with very large search spaces. A comparative analysis involving computing simulations practical experiment demonstrates that proposed comes superb performance comparison conventional Linear Quadratic Regulator (LQR) well HFCGA-based PD controller.