Hybrid intelligent PID control for MIMO system

Authors:
Jih-Gau Juang;Kai-Ti Tu;Wen-Kai Liu
Affiliations:
Department of Communications and Guidance Engineering, National Taiwan Ocean University, Keelung, Taiwan, ROC;Department of Communications and Guidance Engineering, National Taiwan Ocean University, Keelung, Taiwan, ROC;Department of Communications and Guidance Engineering, National Taiwan Ocean University, Keelung, Taiwan, ROC
Venue:
ICONIP'06 Proceedings of the 13th international conference on Neural information processing - Volume Part III
Year:
2006

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Abstract

This paper presents a new approach using switching grey prediction PID controller to an experimental propeller setup which is called the twin rotor multi-input multi-output system (TRMS). The goal of this study is to stabilize the TRMS in significant cross coupling condition and to experiment with set-point control and trajectory tracking. The proposed scheme enhances the grey prediction method of difference equation, which is a single variable second order grey model (DGM(2,1) model). It is performed by real-value genetic algorithm (RGA) with system performance index as fitness function. We apply the integral of time multiplied by the square error criterion (ITSE) to form a suitable fitness function in RGA. Simulation results show that the proposed design can successfully adapt system nonlinearity and complex coupling condition.