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Metaheuristics Algorithm for Tuning of pid controller of Mobile Robot System

Computers, Materials & Continua 2022年第8期72卷 3481-3492页

作者： Harsh Goud Prakash Chandra Sharma Kashif Nisar Muhammad Reazul Haque Ag.Asri Ag.Ibrahim Narendra Singh Yadav Pankaj Swarnkar Manoj Gupta Laxmi Chand Indian Institute of Information Technology NagpurIndia School of Computing&Information Technology Manipal UniversityJaipurRajasthanIndia Faculty of Computing and Informatics University Malaysia SabahJalan UMSKota Kinabalu88400SabahMalaysia Faculty of Computing&Informatics Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Maulana Azad National Institute of Technology BhopalIndia Department of Electronics and Communication Engineering JECRC UniversityJaipurRajasthanIndia Department of Computer Science and Engineering Hanyang UniversitySeongdong-guSeoul04763Korea

Robots in the medical industry are becoming more common in daily life because of various advantages such as quick response,less human interference,high dependability,improved hygiene,and reduced aging effects.That is why,in recent years,robotic aid has emerged as a blossoming solution to many challenges in the medical industry.In this manuscript,meta-heuristics(MH)algorithms,specifically the Firefly Algorithm(FF)and Genetic Algorithm(GA),are applied to tune pid controller constraints such as Proportional gain Kp Integral gain Ki and Derivative gain Kd.The controller is used to control Mobile Robot System(MRS)at the required set point.The FF arrangements are made based on various pre-analysis.A detailed simulation study indicates that the proposed pid controller tuned with Firefly Algorithm(FF-pid)for MRSis beneficial and suitable to achieve desired closed-loop system response.The FF is touted as providing an easy,reliable,and efficient tuning technique for pid controllers.The most suitable ideal performance is accomplished with FF-pid,according to the display in the time response.Further,the observed response is compared to those received by applying GA and conventional off-line tuning techniques.The comparison of all tuning methods exhibits supremacy of FF-pid tuning of the given nonlinear Mobile Robot System than GA-pid tuning and conventional controller.

关键词： Metaheuristic algorithm genetic algorithm pid controller mobile robot system firefly algorithm

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A Novel ANFIS Based SMC with Fractional Order pid controller

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Intelligent Automation & Soft Computing 2023年第4期36卷 745-760页

作者： A.Jegatheesh M.Germin Nisha N.Kopperundevi Department of ECE Arunachala College of Engineering for WomenVellichanthai629203Tamil NaduIndia Department of EEE St Xaviers Catholic College of EngineeringNagercoil290036Tamil NaduIndia Department of ECE Swarnandhra College of Engineering and TechnologyNarasapur534280Andhra PradeshIndia

Interacting The highest storage capacity of a circular tank makes it pop-ular in process industries.Because of the varying surface area of the cross-sec-tions of the tank,this two-tank level system has nonlinear characteristics.Controlling theﬂow rate of liquid is one of the most difﬁcult challenges in the production process.This proposed effort is critical in preventing time delays and errors by managing theﬂuid level.Several scholars have explored and explored ways to reduce the problem of nonlinearity,but their techniques have not yielded better results.Different types of controllers with various techniques are implemented by the proposed system.Sliding Mode controller(SMC)with Fractional Order pid controller based on Intelligent Adaptive Neuro-Fuzzy Infer-ence System(ANFIS)is a novel technique for liquid level regulation in an inter-connected spherical tank system to avoid interferences and achieve better performance in comparison of rise time,settling time,and overshoot decrease.Evaluating the simulated results acquired by the controller yields the efﬁciency of the proposed system.The simulated results were produced using MATLAB 2018 and the FOMCON toolbox.Finally,the performance of the conventional controller(FOpid,pid-SMC)and proposed ANFIS based SMC-FOpid control-lers are compared and analyzed the performance indices.

关键词： Nonlinear system performance indices ANFIS based sliding mode controller with fractional order pid pid controller

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pid controller design for second order nonlinear uncertain systems

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Science China(Information Sciences) 2017年第2期60卷 5-17页

作者： Cheng ZHAO Lei GUO Institute of Systems Science Academy of Mathematics and Systems Science (AMSS)Chinese Academy of Sciences

Although the classical pid(proportional-integral-derivative) controller is most widely and successfully used in engineering systems which are typically nonlinear with various uncertainties, almost all the existing investigations on pid controller focus on linear systems. The aim of this paper is to present a theory on pid controller for nonlinear uncertain systems, by giving a simple and analytic design method for the pid parameters together with a mathematic proof for the global stability and asymptotic regulation of the closed-loop control systems. To be specific, we will construct a 3-dimensional manifold within which the three pid parameters can be chosen arbitrarily to globally stabilize a wide class of second order nonlinear uncertain dynamical systems, as long as some knowledge on the upper bound of the derivatives of the nonlinear uncertain function is available.We will also try to make the feedback gains as small as possible by investigating the necessity of the manifold from which the pid parameters are chosen, and to establish some necessary and sufficient conditions for global stabilization of several special classes of nonlinear uncertain systems.

关键词： pid controller nonlinear uncertain systems global stability Lyapunov function asymptotic regulation

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pid controller Optimization by GA and Its Performances on the Electro-hydraulic Servo Control System

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Chinese Journal of Aeronautics 2008年第4期21卷 378-384页

作者： Karam M. Elbayomy School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics

A proportional integral derivative （pid） controller is designed and attached to electro-hydraulic servo actuator system （EHSAS） to control the angular position of the rotary actuator which control the movable surface of space vehicles. The pid gain parameters are optimized by the genetic algorithm （GA）. The controller is verified on the new state-space model of servo-valves attached to the physical rotary actuator by SIMULINK program. The controller and the state-space model are verified experimentally. Simulation and experimental results verify the effectiveness of the pid controller adaptive by GA to control the angular position of the rotary actuator as compared with the classical pid controller and the compensator controller.

关键词： pid controller electro-hydraulic servo control system genetic controller GA

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Design of pid controller with incomplete derivation based on differential evolution algorithm

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Journal of Systems Engineering and Electronics 2008年第3期19卷 578-583页

作者： Wu Lianghong Wang Yaonan Zhou Shaowu Tan Wen School of Information and Electric Engineering Hunan Univ. of Science and Technology Xiangtan 411201 P. R. China Coll. of Electric and Information Engineering Hunan Univ. Changsha 410082 P. R. China

To determine the optimal or near optimal parameters of pid controller with incomplete derivation, a novel design method based on differential evolution （DE） algorithm is presented. The controller is called DE-pid controller. To overcome the disadvantages of the integral performance criteria in the frequency domain such as IAE, ISE, and ITSE, a new performance criterion in the time domain is proposed. The optimization procedures employing the DE algorithm to search the optimal or near optimal pid controller parameters of a control system are demonstrated in detail. Three typical control systems are chosen to test and evaluate the adaptation and robustness of the proposed DE-pid controller. The simulation results show that the proposed approach has superior features of easy implementation, stable convergence characteristic, and good computational efficiency. Compared with the ZN, GA, and ASA, the proposed design method is indeed more efficient and robust in improving the step response of a control system.

关键词： pid controller incomplete derivation differential evolution parameter tuning.

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Design and Experimental Evaluation of pid controller for Digital Electro-Pneumatic Cabin Pressure Control System

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Transactions of Nanjing University of Aeronautics and Astronautics 2016年第5期33卷 576-583页

作者： Nie Jinfang Pan Quan Shen Hao Song Zhitao Zhang Dalin College of Automation Northwestern Polytechnical University Xi'an 710072 P.R. China Shanghai Aircraft Airworthiness Certification Center of CAAC Shanghai 200335 P.R. China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing University of Aeronautics and Astronautics Nanjing 210016 P.R. China

The performance of the designed digital electro-pneumatic cabin pressure control system for the cabin pressure schedule of transport aircraft is investigated.For the purpose of this study,an experimental setup consisting of a simulated hermetic cabin and altitude simulation chamber is configured for cabin pressure control system operation.A series of experimental tests are executed to evaluate the performance of the cabin pressure control system.The parameters of the pid controller are optimized.In the optimization process,the variation regularity of the rate of cabin pressure change under various conditions is considered.An approach to prioritize the control of the rate of change of cabin pressure based on the flight status model is proposed and verified experimentally.The experimental results indicate that the proposed approach can be adopted for the designed digital electro-pneumatic cabin pressure control system to obtain a better cabin pressure schedule and rate of cabin pressure change.

关键词： cabin pressure control digital electro-pneumatic pid controller

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A frequency domain design of pid controller for an AVR system

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Journal of Zhejiang University-Science C(Computers and Electronics) 2014年第4期15卷 293-299页

作者： Md Nishat ANWAR Somnath PAN Department of Electrical Engineering Indian School of Mines

We propose a new proportional-integral-derivative(pid) controller design method for an automatic voltage regulation(AVR) system based on approximate model matching in the frequency domain. The parameters of the pid controller are obtained by approximate frequency response matching between the closed-loop control system and a reference model with the desired specifications. Two low frequency points are required for matching the frequency response, and the design method yields linear algebraic equations, solution of which gives the controller parameters. The effectiveness of the proposed method is demonstrated through examples taken from the literature and comparison with some popular methods.

关键词： Automatic voltage regulation(AVR) pid controller Frequency response matching

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Improved evolutionary algorithm and its application in pid controller optimization

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Science China(Information Sciences) 2020年第9期63卷 303-305页

作者： Dewen QIAO Nankun MU Xiaofeng LIAO Junqing LE Fan YANG College of Electronic and Information Engineering Southwest University School of Computer Science and Engineering South China University of Technology College of Computer Chongqing University

Dear editor,As a common control loop feedback mechanism,the proportional-integral-derivative (pid) controller has been widely applied in industrial control systems [1–3]. The pid control method is simple,stable, and ... 详细信息

关键词： pid controller evolutionary algorithm nonlinear regressive function linear dynamic strategy elite strategy

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Optimization for pid controller of Cryogenic Ground Support Equipment Based on Cooperative Random Learning Particle Swarm Optimization

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Journal of Shanghai Jiaotong university(Science) 2013年第2期18卷 140-146页

作者：李祥宝季睿杨煜普 Department of Automation Shanghai Jiaotong University

Cryogenic ground support equipment (CGSE) is an important part of a famous particle physics experiment - AMS-02. In this paper a design method which optimizes pid parameters of CGSE control system via the particle swarm optimization (PSO) algorithm is presented. Firstly, an improved version of the original PSO, cooperative random learning particle swarm optimization (CRPSO), is put forward to enhance the performance of the conventional PSO. Secondly, the way of finding pid coefficient will be studied by using this algorithm. Finally, the experimental results and practical works demonstrate that the CRPSO-pid controller achieves a good performance.

关键词： particle swarm optimization (PSO) pid controller cryogenic ground support equipment (CGSE) cooperative random learning particle swarm optimization (CRPSO)

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Application of pid controller to 2D differential geometric guidance problem

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控制理论与应用（英文版） 2007年第3期5卷 285-290页

作者： Chaoyong LI Wuxing JING Department of Aerospace Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China

This paper presents the application of the proportional-integral-derivative （pid） controller to the flight control system （FCS） for two-dimensional （2D） differential geometric （DG） guidance and control problem. In particular, the performance of the designed FCS is investigated. To this end, the commanded angle-of-attack is firstly developed in the time domain using the classical DG formulations. Then, the classical pid controller is introduced to develop a FCS so as to form the 2D DG guidance and control system, and the pid controller parameters are determined by the Ziegler-Nichols method as well as the Routh-Hurwitz stability algorithm to guarantee the convergence of the system error. The results demonstrate that the designed controller yields a fast responding system, and the resulting DG guidance and control system is viable and effective in a realistic missile defense engagement.

关键词： Differential geometry Flight control system Missile guidance pid controller

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