Optimal design of an adaptive robust controller using a multi-objective artificial bee colony algorithm for an inverted pendulum system

Abstract

In this study, a multi-objective artificial bee colony (MOABC) optimization algorithm was utilized to improve the performance of an adaptive robust control technique. This approach is implemented using an inverted pendulum system. More precisely, the proposed controller is a combination of a decoupled sliding-mode controller (DSMC) and adaptation laws based on the gradient descent approach. To achieve optimum control operation, the MOABC, as a novel meta-heuristic method simulated from the smart foraging activity of honeybee groups, was employed to optimize the coefficients of the suggested controller. In this regard, the objective functions are determined as the integral time of the absolute value of the pole angle and cart position errors. Finally, the time responses of the system states and control effort are presented to prove the effectiveness and feasibility of the proposed strategy compared with other contemporary studies referenced in this paper.