| Title |
Design of Optimized Fuzzy Cascade controller Based on Partical Swarm Optimization for Ball & Beam System |
| Authors |
장한종(Jang, Han-Jong) ; 오성권(Oh, Sung-Kwun) |
| Keywords |
Fuzzy cascade controller ; PD cascade controller ; Particle Swarm Optimization ; Ball & Beam System |
| Abstract |
In this study, we introduce the design methodology of an optimized fuzzy cascade controller with the aid of particle swarm optimization(PSO) for ball & beam system. The ball & beam system consists of servo motor, beam and ball, and remains mutually connected in line in itself. The ball & beam system determines the position of ball through the control of a servo motor. We introduce the fuzzy cascade controller scheme which consists of the outer(1st) controller and the inner(2nd) controller as two cascaded fuzzy controllers, and auto-tune the control parameters(scaling facrors) of each fuzzy controller using PSO. For a detailed comparative analysis from the viewpoint of the performance results and the design methodology, the proposed method for the ball & beam system which is realized by the fuzzy cascade controller based on PSO, is presented in comparison with the conventional PD cascade controller based on serial genetic alogritms. |