Design of Grasshopper Optimized FOPID Controller (GO-FOPIDC) for Balancing an Inverted Pendulum (IP)

Abstract

The purpose of this publication is to develop a Fractional Order PID Controller (FOPIDC) based on Grasshopper Optimization (GO) for keeping track of an IP's CP, CV, and AP along with erroneous arcs. This approach modifies the control execution by reconstructing the conventional PID using the fractional order idea. The GO-FOPIDC is a novel technique, and depending on the error signal $e(t)$, its parameters animatedly changes. By comparing the respective results with those of other currently used control approaches, it is determined whether GO-FOPIDC is being executed more effectively or not. The relative results clearly shown that the suggested technique to keep the model dynamics within a narrow range was executed more successfully in terms of precision, consistency, and toughness.