Optimal PID control of spatial inverted pendulum with big bang–big crunch optimization

Abstract

As the extension of the linear inverted pendulum &#x0028 LIP &#x0029 and planar inverted pendulum &#x0028 PIP &#x0029 , this paper proposes a novel spatial inverted pendulum &#x0028 SIP &#x0029 . The SIP is the most general inverted pendulum &#x0028 IP &#x0029 than any existing IP. The model of the SIP is presented for the first time. The SIP inherits all the characteristics of the LIP and the PIP, which is a nonlinear, unstable and underactuated system. The SIP has five degrees of motion freedom and three control forces. Thus, it is a multiple-input and multiple-output &#x0028 MIMO &#x0029 system with nonlinear dynamics. To realize the spatial trajectory tracking of the SIP, the control structure with five PID controllers will be designed. The parameter tuning of the multiple PIDs is a challenging work for the proposed SIP model. To alleviate the difficulties of the parameter tuning for the multiple PID controllers, optimal PIDs can be achieved with the help of Big Bang-Big Crunch &#x0028 BBBC &#x0029 optimization. The BBBC algorithm can successfully optimize the parameters of the multiple PID controllers with high convergence speed. The optimization performance index of the BBBC algorithm is compared with that of the particle swarm optimization &#x0028 PSO &#x0029 . Simulation results certify the rightness and effectiveness of the proposed control and optimization methods.