Özet:

The inverted pendulum system (IP) is an underactuated, non-linear, unstable and complex-to-control system. In this study, the inverted pendulum system is modeled by taking into account the friction effects. A parallel PD controller, which controls the car position and pendulum angle, whose coefficients are adjusted with the help of the ant colony algorithm, is proposed for the control of the system. Depending on the ant colony algorithm, the ideal ratio and derivative coefficients were obtained with the help of the integral of the square of the error (ISE), the integral of the absolute value of the error (IAE), the integral of the absolute value of the error over time (ITAE) and the mean squared error (MSE) objective functions. The performance of the system has been compared with the classical PD controller by simulation and experimentally with the help of the coefficients found for the position and angle controllers. According to the results obtained, the rise time, settling time and overshoot values were reduced. In step reference, the response performance of the optimized parallel PD controllers is significantly increased.

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