Metaheuristics-Based Optimization of a Robust GAPID Adaptive Control Applied to a DC Motor-Driven Rotating Beam with Variable Load

Abstract

This work aims to analyze two metaheuristics optimization techniques, Genetic Algorithm (GA) and Particle Swarm Optimization (PSO), with six variations each, and compare them regarding their convergence, quality, and dispersion of solutions. The optimization target is the Gaussian Adaptive PID control (GAPID) to find the best parameters to achieve enhanced performance and robustness to load variations related to the traditional PID. The adaptive rule of GAPID is based on a Gaussian function that has as adjustment parameters its concavity and the lower and upper bound of the gains. It is a smooth function with smooth derivatives. As a result, it helps avoid problems related to abrupt increases transition, commonly found in other adaptive methods. Because there is no mathematical methodology to set these parameters, this work used bio-inspired optimization algorithms. The test plant is a DC motor with a beam with a variable load. Results obtained by load and gain sweep tests prove the GAPID presents fast responses with very low overshoot and good robustness to load changes, with minimal variations, which is impossible to achieve when using the linear PID.

Design of a Takagi–Sugeno Fuzzy Exact Modeling of a Buck–Boost Converter

“…For the application of this control technique, the discrete transfer function of the output voltage is required [18,19]. This is obtained through the state-space linear model.…”

“…In addition, some adaptive PID techniques can be used to improve the performance of traditional PID controllers. Borges et al [18] and Itaborahy Filho et al [19] used metaheuristic-based optimization to design some robust controllers.…”