New Exploration/Exploitation Improvements of GWO for Robust Control of a Nonlinear Inverted Pendulum

Abstract

Tuning a nonlinear inverted pendulum is a complex and uncertain optimization problem. In this paper, we develop two new GWO variants by introducing a DLH (Dimension Learning-based Hunting) module and new formulas to enhance the exploitation/exploration ratio aiming to avoid local minima. A statistical analysis is carried out to compare the two proposed approaches with five GWO variants. After that, they are used to tune a PID and FSMC controller. The obtained results are promising even when compared to other approaches

Keywords

• GWO algorithm
• DLH strategy
• PID
• Sliding mode control
• Fuzzy logic control
• Inverted pendulum