Research Information System
OPTIMAL CONTROL APPLICATIONS & METHODS, 2025 (SCI-Expanded)
The Wheeled Inverted Pendulum (WIP) system presents a challenging control problem in the field of control systems due to its inherent instability, non-linearity, multivariable nature, and under actuation. This paper introduces a novel framework that integrates a robust combined control algorithm with the Inverted Pendulum Multi-objective Optimization (IPMO) algorithm to improve the stability and tracking performance of WIP systems. The robust control algorithm combines Time-Varying Sliding Mode Control (TVSMC), Exponential Reaching Law (ERL), and Non-linear Feedback Control (NFC) to mitigate chattering and enhance stability. The IPMO algorithm utilizes a Solutions Validity Table (SVT) to balance exploration and exploitation in the search for optimal controller parameters. By optimizing the controller parameters, the aim is to minimize tracking errors and improve the overall performance of the WIP system. Extensive simulations are conducted to demonstrate the effectiveness of the proposed framework in enhancing the WIP system performance and minimizing tracking errors. The proposed IPMO algorithm provides decision-makers with a range of optimal solutions, contributing to the advancement of control techniques for unstable, highly non-linear, multivariable, and underactuated systems. A supplemental animated simulation of this work is available at .