Using Improved Fuzzy-Flower Pollination Algorithm for Regulating Parameters of theTerminal Sliding Mode Controller for Inverted Pendulum System Control

Inverted pendulum system is a complicated system, which is an unstable and nonlinear system, under no-control conditions. In this paper, a Terminal Sliding Mode Controller (TSMC) is used to control this system, which is regulated by the Improved Fuzzy-Flower Pollination Algorithm (IF-FPA). Based on the pendulum position and angle, the proposed controller is designed such that the tracking error reaches zero, with the minimum control effort. To this aim, a cost function is defined, including the tracking error and the control effort. The Improved Fuzzy-Flower Pollination Algorithm regulates the controller parameters such that the cost function will be minimized. Simulation results, reveal the effective performance of the proposed method.

Keywords:

Inverted Pendulum System , Terminal Sliding Mode Control , Improved Fuzzy-Flower pollination Algorithm.