Parameter tuning of fractional-order PDμ controllers based on bacterial foraging-particle swarm optimization algorithm

An improved bacterial foraging-particle swarm optimization algorithm (BF-PSO) is proposed to tune parameters of fractional-order PD^μ controllers for fractional-order systems with time-delays. Firstly, parameters are initialized based on the stable regions determined by the analytical method, overcoming the defect of uncertainty stable region by Ziegler-Nichols method. Moreover, the convergence and divergence operator is used to replace the elimination stage of BF-PSO, enhancing the efficiency and accuracy of search. Finally, the simulation results are analyzed to verify the effectiveness of this improved BF-PSO method.