Implementación de un algoritmo de aprendizaje de máquina para la sintonización de un controlador aplicado a un péndulo invertido.

dc.contributorGuarnizo Marin, José Guillermo
dc.contributorUniversidad Santo Tomas
dc.creatorGuarnizo Hernández, Wilson Augusto
dc.date.accessioned2022-07-19T19:40:39Z
dc.date.available2022-07-19T19:40:39Z
dc.date.created2022-07-19T19:40:39Z
dc.date.issued2022-07-18
dc.identifierGuarnizo Hernández, W. A. (2022). Implementación de un algoritmo de aprendizaje de máquina para la sintonización de un controlador aplicado a un péndulo invertido. [Trabajo de grado, Universidad Santo Tomás]. Repositorio institucional.
dc.identifierhttp://hdl.handle.net/11634/45955
dc.identifierreponame:Repositorio Institucional Universidad Santo Tomás
dc.identifierinstname:Universidad Santo Tomás
dc.identifierrepourl:https://repository.usta.edu.co
dc.description.abstractThis degree project presents the design and implementation of a tuning of an angular position controller for an inverted rotary pendulum, using a Bio-inspired clonal selection algorithm for adjusting the parameters of a PID controller. This details the process of creating the PID controller, the simulated model in MATLAB of the inverted rotary pendulum, and the programming clonal selection algorithm for tuning the gains required by the controller for its control action. Likewise, comparisons of the performance of controllers in their transitive process are made, where they measure how much improves the overshoot,time setting and steady-state error of the base controllers and the controller tuned to the clonal algorithm. Finally, the tuning performance of the clonal selection algorithm on an FSF (Full State Feedback) controller applied to a QUANSER Rotary Inverted Pendulum physical plant is verified.
dc.languagespa
dc.publisherUniversidad Santo Tomás
dc.publisherPregrado Ingeniería Electrónica
dc.publisherFacultad de Ingeniería Electrónica
dc.relationO. Chuk y C Medina. «Transferencia tecnológica de un sistema de control automático basado en PC para un molino de martillos industrial». En: Facultad de ingeniería, Universidad Nacional de San Juan. San Juan, Argentina. 2014.
dc.relationMarco Paz Ramos y Suselle Esquivel. «Un controlador bien sintonizado es dinero en su bolsillo». En: InTech México Automatización. Vol. 9. 2010, págs. 30-34.
dc.relationIshan Chawla y Ashish Singla. «Real-Time Control of a Rotary Inverted Pendulum using Robust LQR-based ANFIS Controller». En: International Journal of Nonlinear Sciences and Numerical Simulation 19.3-4 (2018), págs. 379-389. DOI: doi:10.1515/ijnsns-2017- 0139. URL: https://doi.org/10.1515/ijnsns-2017-0139.
dc.relationIshan Chawla y Ashish Singla. «ANFIS based system identification of underactuated systems». En: International Journal of Nonlinear Sciences and Numerical Simulation 21.7-8 (2020), págs. 649-660. DOI: 10 . 1515 / ijnsns - 2018 - 0005. URL: https://doi.org/10.1515/ijnsns-2018-0005.
dc.relationWael Younis y Mohammed Abdelati. «Design and implementation of an experimental segway model». En: AIP Conference Proceedings. Vol. 1107. American Institute of Physics, 2009. Cap. 1, págs. 350-354.
dc.relationAhmed Elhasairi y Alexandre Pechev. «Humanoid Robot Balance Control Using the Spherical Inverted Pendulum Mode». En: Frontiers in Robotics and AI 2 (2015). DOI: 10.3389/frobt.2015.00021.
dc.relationIshan Chawla y Ashish Singla. «Real-Time Stabilization Control of a Rotary Inverted Pendulum Using LQR-Based Sliding Mode Controller». En: Arabian Journal for Science and Engineering 46.3 (2021), págs. 2589-2596. DOI: 10.1007/s13369-020-05161-7. URL: https://doi.org/10.1007/s13369-020-05161-7.
dc.relationM Akhtaruzzaman y A A Shafie. «Modeling and control of a rotary inverted pendulum using various methods, comparative assessment and result analysis». En: - 2010 IEEE International Conference on Mechatronics and Automation. 2010, págs. 1342-1347. ISBN: 2152- 7431. DOI: 10.1109/ICMA.2010.5589450.
dc.relationG Sainzaya y col. «LQR control with refined PID to balance rotary inverted pendulum with time-varying uncertainty». En: - 2017 International Conference on Fuzzy Theory and Its Applications (iFUZZY). 2017, págs. 1-6. ISBN: 2377-5831. DOI: 10.1109/iFUZZY.2017. 8311812.
dc.relationJavier Gonzalo González Fontanet, Ania Lussón Cervantes e Irina Bausa Ortiz. «Alternativas de control para un Péndulo de Furuta». En: Revista Iberoamericana de Automática e Informática industrial 13, Núm. 4 (). DOI: 10.1016/j.riai.2016.05.008. URL: https://polipapers.upv.es/index.php/RIAI/article/view/9255.
dc.relationS Howimanporn, S Chookaew y C Silawatchananai. «Comparison between PID and Sliding Mode Controllers for Rotary Inverted Pendulum Using PLC». En: - 2020 4th International Conference on Automation, Control and Robots (ICACR). 2020, págs. 122-126. ISBN: NULL-. DOI: 10.1109/ICACR51161.2020.9265510.
dc.relationGisela Pujol-Vazquez y col. «Rotary inverted pendulum with magnetically external perturbations as a source of the pendulum’s base navigation commands». En: Journal of the Franklin Institute 355.10 (2018), págs. 4077-4096. URL: https://www-sciencedirect-com.crai-ustadigital.usantotomas.edu. co/science/article/pii/S0016003218302151.
dc.relationV Stanovov, S Akhmedova y E Semenkin. «Automatic Design of Fuzzy Controller for Rotary Inverted Pendulum with Success-History Adaptive Genetic Algorithm». En: - 2019 International Conference on Information Technologies (InfoTech). 2019, págs. 1-4. ISBN: NULL-. DOI: 10.1109/InfoTech.2019.8860874.
dc.relationG Yuntao y col. «The Design and Realization of a Rotary Inverted Pendulum Based on STM32». En: - 2015 International Conference on Identification, Information, and Knowledge in the Internet of Things (IIKI). 2015, págs. 185-188. ISBN: NULL-. DOI: 10.1109/IIKI. 2015.46.
dc.relationJ Kim y col. «Imitation Reinforcement Learning-Based Remote Rotary Inverted Pendulum Control in OpenFlow Network». En: IEEE Access. Vol. 7. 2019, págs. 36682-36690. ISBN: 2169-3536. DOI: 10.1109/ACCESS.2019.2905621.
dc.relationH Lim y col. «Federated Reinforcement Learning for Controlling Multiple Rotary Inverted Pendulums in Edge Computing Environments». En: - 2020 International Conference on Artificial Intelligence in Information and Communication (ICAIIC). 2020, págs. 463-464. ISBN: NULL-. DOI: 10.1109/ICAIIC48513.2020.9065233.
dc.relationC Sompracha y S Rukkaphan. «Optimal PIλDμ Controller Design for Rotary Inverted Pendulum System via Cuckoo Search Algorithm». En: - 2020 17th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON). 2020, págs. 490-493. ISBN: NULL-. DOI: 10.1109/ECTI-CON49241.2020.9158293.
dc.relationDavid Mateo Rojas Vallejo. «Desarrollo de una estrategia de control predictivo aplicado a un péndulo invertido, que permita la estabilización de imágenes en robots para exploración agrıcola». En: Universidad de La Salle. Facultad de Ingenierıa. Ingenierıa en Automatización. 2019.
dc.relationMr Kulkarni. «Self Balancing Robot». En: International Journal for Research in Applied Science and Engineering Technology 7 (2019), págs. 814-818. DOI: 10.22214/ijraset.2019.6141.
dc.relationPhilippe Martin, Santosh Devasia y Brad Paden. «A different look at output tracking: control of a vtol aircraft». En: Automatica 32.1 (1996), págs. 101-107. DOI: https://doi. org/10.1016/0005-1098(95)00099-2. URL: https://www.sciencedirect. com/science/article/pii/0005109895000992.
dc.relationDaniel Jerome Block, Karl J Åström y Mark W Spong. Reaction wheel pendulum. San Rafael, Calif.]: Morgan & Claypool, 2007. ISBN: 1598291947 9781598291940 9781598294439 1598294431.
dc.relationEMANUEL OCHOA HENAO. «ODS número 9 industria, innovación e infraestructura y número 17 alianzas para lograr los objetivos y su efecto en las PYMES para Colombia». En: UNIVERSITARIA ESUMER. 2019, págs. 1-56. URL: http://repositorio.esumer.edu.co/jspui/handle/esumer/2025.
dc.relationThomas Kailath. Linear systems. Englewood Cliffs, N.J.: Prentice-Hall, 1980. ISBN: 0135369614 9780135369616.
dc.relationJ K Roberge. «The Mechanical Seal, Bachelor’s thesis». En: Massachusetts Institute Of Technology. Vol. 1. 1960, págs. 0-48. URL: http://web.mit.edu/klund/www/papers/Roberge1960.pdf.
dc.relationJ F Schaefer y col. On the bounded control of some unstable mechanical systems. Stanford, Calif.; Virginia: Dept. of Aeronautics y Astronautics, Stanford University ; Distributed by the Defense Documentation Center, 1965.
dc.relationWilliam Siebert. Circuits, signals, and systems. Cambridge, Mass.; New York: MIT Press ; McGraw-Hill, 1985. ISBN: 0070572909 9780070572904 0262192292 9780262192293.
dc.relationHuibert Kwakernaak y Raphael Sivan. Linear optimal control systems. Vol. 1. Wiley-interscience New York, 1972.
dc.relationH K Khalil. Nonlinear Systems. Prentice Hall, 2002. ISBN: 9780131227408. URL: https: //books.google.com.co/books?id=v_BjPQAACAAJ.
dc.relationNavin John Mathew, K Koteswara Rao y N Sivakumaran. «Swing Up and Stabilization Control of a Rotary Inverted Pendulum». En: IFAC Proceedings Volumes 46.32 (2013), págs. 654-659. DOI: https://doi.org/10.3182/20131218-3-IN-2045.00128. URL: https : //www.sciencedirect.com/science/article/pii/S1474667015383324.
dc.relationSandeep Pandey, Prakash Dwivedi y Deepak Mishra. «Performance Evaluation : Anti-windup Two-loop PID Controller for Rotary Single Inverted Pendulum». En: 2021 IEEE 8th Uttar Pradesh Section International Conference on Electrical, Electronics and Computer Engineering (UPCON). 2021, págs. 1-6. DOI: 10.1109/UPCON52273.2021.9667579.
dc.relationAdharsh Lal M y col. «Stabilization of Rotary Inverted Pendulum using PID Controller». En: 2021 8th International Conference on Smart Computing and Communications (ICSCC). 2021, págs. 376-380. DOI: 10.1109/ICSCC51209.2021.9528290.
dc.relationMSiva Kumar, B Dasu y G Ramesh. «Design of LQR Based Stabilizer for Rotary Inverted Pendulum System». En: IJCTA 9 (2016), pág. 29.
dc.relationX Zhang y col. «Study on Swing-up Control of Rotary Inverted Pendulum Based on Energy Feedback». En: - 2018 5th International Conference on Information Science and Control Engineering (ICISCE). 2018, págs. 994-998. ISBN: NULL-. DOI: 10.1109/ICISCE.2018.00205.
dc.relationMontoya Giraldo Oscar, Juan Valenzuela Hernández y Giraldo Buitrago Didier. «Control global del Péndulo Rotacional Invertido empleando modelos de energía». En: Scientia et Technica 1.52 (2012). DOI: 10.22517/23447214.7831. URL: https://revistas. utp.edu.co/index.php/revistaciencia/article/view/7831.
dc.relationS P Diwan y S S Deshpande. «Nonlinear Model Predictive Controller for the Real-Time control of Fast Dynamic System». En: - 2019 International Conference on Communication and Electronics Systems (ICCES). 2019, págs. 289-294. ISBN: NULL-. DOI: 10.1109/ICCES45898.2019.9002380.
dc.relationO Saleem y K Mahmood-Ul-Hasan. «Indirect Adaptive State-Feedback Control of Rotary Inverted Pendulum Using Self-Mutating Hyperbolic-Functions for Online Cost Variation». En: - IEEE Access. Vol. 8. 2020, págs. 91236-91247. ISBN: 2169-3536. DOI: 10.1109/ACCESS.2020.2994830.
dc.relationM U Soydemir y col. «Learning Feedback Linearization Based Stable Robust Adaptive NARMA Controller Design for Rotary Inverted Pendulum». En: - 2019 11th International Conference on Electrical and Electronics Engineering (ELECO). 2019, págs. 795-799. ISBN: NULL-. DOI: 10.23919/ELECO47770.2019.8990417.
dc.relationS Chatterjee y S K Das. «Sampled-Data Control for Optimal Gain Margin of Cart Inverted Pendulum System: Comparison with Continuous-Time Control». En: - 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV). 2018, págs. 1153-1157. DOI: 10.1109/ICARCV.2018.8581364.
dc.relationA Rahimi y col. «Controller design for rotary inverted pendulum system using particle swarm optimization algorithm». En: - 2013 26th IEEE Canadian Conference on Electrical and Computer Engineering (CCECE). 2013, págs. 1-5. ISBN: 0840-7789. DOI: 10.1109/CCECE. 2013.6567710.
dc.relationMorteza Harati, Amir Aminzadeh Ghavifekr y Amir Rikhtehgar Ghiasi. «Model Identification of Single Rotary Inverted Pendulum Using Modified Practical Swarm Optimization Algorithm». En: 2020 28th Iranian Conference on Electrical Engineering (ICEE). 2020, págs. 1-5. DOI: 10.1109/ICEE50131.2020.9261035.
dc.relationJ.G. Guarnizo y J. Avendano. «Liquid level system as a pedagogical tool to teach fuzzy control». En: 2017 International Conference on Electronics, Communications and Computers (CONIELECOMP). 2017, págs. 1-5. DOI: 10.1109/CONIELECOMP.2017.7891820.
dc.relationNgo Phong Nguyen y col. «Fuzzy-Based Super-Twisting Sliding Mode Stabilization Control for Under-Actuated Rotary Inverted Pendulum Systems». En: IEEE Access 8 (2020), págs. 185079-185092. DOI: 10.1109/ACCESS.2020.3029095.
dc.relationC Alarcón y C Muñoz. «Minimum time swing-up controller applied to a rotary inverted pendulum». En: - 2017 CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON). 2017, págs. 1-6. ISBN: NULL-. DOI: 10.1109/CHILECON.2017.8229611.
dc.relationGloria Catalina Cifuentes Duarte. «Diseño de un algoritmo automático de sintonización de parámetros de un controlador PID empleando técnicas Bio-inspiradas de aprendizaje de máquinas». En: Repositorio Universidad Santo Tomás. 2019, págs. 15-49. DOI: http : //hdl.handle.net/11634/16570.
dc.relationLuisa Fernanda Alarcón Sánchez. «Sintonización de un controlador óptimo cuadrático para sistemas multivariables usando sistemas inmunes». En: Universidad Tecnológica de Pereira. Facultad de Tecnologıas e Ingenierıa. 2015.
dc.relationBrian Noriega y col. «Design and Simulation of a Voltage Control Based on Neural Networks». En: 2021 IEEE 5th Colombian Conference on Automatic Control (CCAC). 2021, págs. 133-138. DOI: 10.1109/CCAC51819.2021.9633294.
dc.relationJose Guillermo Guarnizo, Cesar Leonardo Trujillo y Javier Antonio Guacaneme. «Modeling and control of a two DOF helicopter using a robust control design based on DK iteration». En: IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society. 2010, págs. 162-167. DOI: 10.1109/IECON.2010.5675183.
dc.relationMukhtar Fatihu Hamza, Hwa Jen Yap e Imtiaz Ahmed Choudhury. «Genetic Algorithm and Particle Swarm Optimization Based Cascade Interval Type 2 Fuzzy PD Controller for Rotary Inverted Pendulum System». En: Mathematical Problems in Engineering 2015 (2015), págs. 1-15.
dc.relationMichael Levis. «Péndulo rotatorio: explorando el desafío del control clásico con QUBEServo 2». En: Modelo Péndulo Rotatorio Invertido QUBE-Servo 2. 2020. URL: https://www. quanser.com/blog/rotary- pendulum- control- challenge- with- qubeservo/.
dc.relationMartin J Corless y Arthur E. Frazho. «Linear systems and control: an operator perspective». En: CRC Press. 2003, pág. 390. URL: https://www.worldcat.org/title/linear-systems-and-control-anoperator- perspective/oclc/053441587.
dc.relationJuan Carlos Herrera Lozada. «Sistema inmune artificial con población reducida para optimización numérica». En: Tesis doct,Repositorio Dspace. 2017, pág. 82. URL: http://tesis.ipn.mx/handle/123456789/21995.
dc.relationLaura Carrasco Payo. «Implementación de algoritmo de scan-matching basado en Clonalg». En: B.S. thesis. Vol. 1. 2015, pág. 78. URL: http://hdl.handle.net/10016/23213.
dc.relationThomas Bäck, David B Fogel y Zbigniew Michalewicz. «Evolutionary computation 1: Basic algorithms and operators». En: CRC press. 2018.
dc.relationJose Guarnizo y col. «Applications of Artificial Immune Systems in Agents». En: IGI Global. 2009, págs. 99-122. DOI: 10.4018/978-1-60566-310-4.ch005.
dc.relationN Cruz Cortés. «Sistema inmune artificial para solucionar problemas de optimización». En: PhD thesis, Centro de Investigación y de Estudios Avanzados del Instituto. 2004.
dc.relationKatsuhiko Ogata. «Ingenierıa de control moderna». En: Pearson Educación 1 (2003), págs. 1-908. URL: https : / / www . academia . edu / 9814191 / Ingenieria _ de _ Control_Moderna_Ogata_5ed.
dc.relationMichel Lévis Jacob Apkarian Paul Karam. «InstructorWorkbook». En: Inverted Pendulum Experiment for MatLab®/simulink® users. 2011, pág. 61. URL: https://www.quanser. com/products/rotary-inverted-pendulum/.
dc.rightshttp://creativecommons.org/licenses/by-nc-nd/2.5/co/
dc.rightsAbierto (Texto Completo)
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightshttp://purl.org/coar/access_right/c_abf2
dc.rightsAtribución-NoComercial-SinDerivadas 2.5 Colombia
dc.titleImplementación de un algoritmo de aprendizaje de máquina para la sintonización de un controlador aplicado a un péndulo invertido.


Este ítem pertenece a la siguiente institución