PID controller parameter estimator using ant colony system

Author

Hung-Ching Lu ; Hsi-Kuang Liu ; Lian-Fue Yang

Author_Institution

Dept. of Electr. Eng., Tatung Univ., Taipei, Taiwan

fYear

2013

fDate

4-6 July 2013

Firstpage

319

Lastpage

324

Abstract

This work presents a proportional-integral-derivative (PID) estimator that is a parallel ant colony system (para-ACS) to regulate and obtain the precise parameters of PID controller. The framework consists of a main controller that is a PID controller and an para-ACS in which is offline tuned for the parameters of PID. The structure of para-ACS consists of three ACS sets that are parallel. Each ACS set individually estimates the three parameters of a PID controller. The searching pattern of each ACS set has five layers in which each layer has ten nodes, so as to represent each parameter is a five-bit decimal real number. In addition, the integral of time and absolute error (ITAE) and the tracking error are used in the cost function of each ACS set to update the pheromone of each ACS set. Finally, the effectiveness of the proposed method has been verified by simulations using the inverted pendulum system.

Keywords

ant colony optimisation; nonlinear control systems; parameter estimation; pendulums; search problems; set theory; three-term control; ACS set cost function; ACS set pheromone update; ACS set search pattern; ITAE; PID controller parameter estimator; ant colony system; five-bit decimal real number; integral-of-time-and-absolute error; inverted pendulum system; para-ACS; parallel ant colony system; proportional-integral-derivative parameter estimator; tracking error; Angular velocity; Conferences; Control systems; Educational institutions; Fuzzy logic; Process control; Simulation; cost function; integral of time and absolute error; parallel ant colony system;

fLanguage

English

Publisher

ieee

Conference_Titel

System Science and Engineering (ICSSE), 2013 International Conference on

Conference_Location

Budapest

ISSN

2325-0909

Print_ISBN

978-1-4799-0007-7

Type

conf

DOI

10.1109/ICSSE.2013.6614683

Filename

6614683