Title :
A novel bacterial foraging algorithm for automated tuning of PID controllers of UAVs
Author :
Oyekan, John ; Hu, Huosheng
Author_Institution :
Sch. of Comput. Sci. & Electron. Eng., Univ. of Essex, Colchester, UK
Abstract :
Up to now, PID controllers have been widely deployed in Unmanned Aerial Vehicles (UAVs) and other automatical control systems, and have the benefit of simple tuning performed by trial and error. Their applications avoid some complicated modeling efforts however tuning these controllers do need experienced operators and may sometimes be time consuming. This paper presents a novel approach that could be used for the automatic tuning of a PID controller for a UAV. This approach relies on the bacteria foraging technique to guide the search for the optimal parameters of a PID controller in the parameters search space. Experimental results show that the proposed approach is able to improve the parameters chosen by the classical Ziegler Nicholas method.
Keywords :
aircraft; forging; mobile robots; optimal control; remotely operated vehicles; search problems; three-term control; tuning; PID controller; UAV; automatic tuning; automatical control system; bacterial foraging algorithm; parameter search space; proportional-integration-derivative controller; unmanned aerial vehicle; Automatic control; Biological system modeling; Control systems; DC motors; Error correction; Microorganisms; Optimal control; Three-term control; Tuning; Unmanned aerial vehicles; Bacterium Inspired Algorithm; Environmental Monitoring; Flocking; PID control;
Conference_Titel :
Information and Automation (ICIA), 2010 IEEE International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-5701-4
DOI :
10.1109/ICINFA.2010.5512477