Stabilization at upright equilibrium position of a double inverted pendulum with unconstrained bat optimization

TL;DR

This paper presents a control approach for stabilizing a double inverted pendulum at its upright position, using a BAT optimization algorithm to tune the controller considering time delays, improving stability performance.

Contribution

It introduces a novel application of BAT optimization for tuning control parameters of a double inverted pendulum under time delay conditions.

Findings

BAT algorithm improved stability with time delay

Controller tuning outperformed classical methods

Time delay effects identified and addressed

Abstract

A double inverted pendulum plant has been in the domain of control researchers as an established model for studies on stability. The stability of such as a system taking the linearized plant dynamics has yielded satisfactory results by many researchers using classical control techniques. The established model that is analyzed as part of this work was tested under the influence of time delay, where the controller was fine tuned using a BAT algorithm taking into considering the fitness function of square of error. This proposed method gave results which were better when compared without time delay wherein the calculated values indicated the issues when incorporating time delay.