Design and Implementation of Tuning PID Controller using Modern Optimization Techniques for Micro-Robotics System

2021 ◽  
Vol 10 (11) ◽  
pp. 51-68
Author(s):  
Ehab S. Ghith ◽  
◽  
Mohamed Sallam ◽  
Islam S. M. Khalil ◽  
Mohamed Youssef Serry ◽  
...  
Keyword(s):  
Steady State ◽  
Optimization Problems ◽  
Model Simulation ◽  
Search Algorithm ◽  
Optimal Parameter ◽  
Fitness Function ◽  
Optimization Techniques ◽  
Control Technique ◽  
Pid Controllers ◽  
Flower Pollination Algorithm

One of the main difficult tasks in the field of micro-robotics is the process of the selection of the optimal parameters for the PID controllers. Some methods existed to solve this task and the common method used was the Ziegler and Nichols. The former method require an accurate mathematical model. This method is beneficial in linear systems, however, if the system becomes more complex or non-linear the method cannot produce accurate values to the parameters of the system. A solution proposed for this problem recently is the application of optimization techniques. There are various optimization techniques can be used to solve various optimization problems. In this paper, several optimization methods are applied to compute the optimal parameter of PID controllers. These methods are flower pollination algorithm (FPA), grey wolf optimization (GWO), sin cosine algorithm (SCA), slime mould algorithm (SMA), and sparrow search algorithm (SSA). The fitness function applied in the former optimization techniques is the integral square Time multiplied square Error (ISTES) as the performance index measure. The fitness function provides minimal rise time, minimal settling time, fast response, and no overshoot, Steady state error equal to zero, a very low transient response and a non-oscillating steady state response with excellent stabilization. The effectiveness of the proposed SSA-based controller was verified by comparisons made with FPA, GWO, SCA, SMA controllers in terms of time and frequency response. Each control technique will be applied to the identified model (simulation results) using MATLAB Simulink and the laboratory setup (experimental results) using LABVIEW software. Finally, the SSA showed the highest performance in time and frequency responses.

Real-Time Implementation for Tuning PID Controller Based on Advanced Optimization Techniques for Micro-Robotics System

2021 ◽  
Vol 10 (6) ◽  
pp. 161-173
Author(s):  
Ehab S. Ghith ◽  
◽  
Mohamed Sallam ◽  
Islam S. M. Khalil ◽  
Mohamed Serry ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Pid Controller ◽  
Model Simulation ◽  
Search Algorithm ◽  
Optimization Techniques ◽  
Control Technique ◽  
Flower Pollination Algorithm ◽  
Labview Software ◽  
Laboratory Setup ◽  
Sine Cosine Algorithm

The process of tuning the PID controller’s parameters is considered to be a difficult task. Several approaches were developed in the past known as conventional methods. One of these methods is the Ziegler and Nichols that relies on accurate mathematical model of the linear system, but if the system is complex the former method fails to compute the parameters of PID controller. To overcome this problem, recently there exist several techniques based on artificial intelligence such as optimization techniques. The optimization techniques does not require any mathematical model and they are considered to be easy to implement on any system even if it complex, can reach optimal solutions on the parameters. In this study, a new approach to control the position of the micro-robotics system proportional - integral - derivative (PID) controller is designed and a recently developed algorithm based on optimization is known as the sparrow search algorithm (SSA). By using the sparrow search algorithm (SSA), the optimal PID controller parameters were obtained by minimizing a new objective function, which consists of the integral square Time multiplied square Error (ISTES) performance index. The effectiveness of the proposed SSA-based controller was verified by comparisons made with the Sine Cosine algorithm (SCA), and Flower pollination algorithm (FPA) controllers in terms of time and frequency response. Each control technique will be applied to the identified model (simulation results) using MATLAB Simulink and the laboratory setup (experimental results) using LABVIEW software. Finally, the SSA showed the highest performance in time and frequency responses.

Automatic Mining of Quantitative Association Rules with Gravitational Search Algorithm

2017 ◽  
Vol 27 (03) ◽  
pp. 343-372 ◽  
Author(s):  
Umit Can ◽  
Bilal Alatas
Keyword(s):  
Association Rules ◽  
Optimization Problems ◽  
Search Algorithm ◽  
Fitness Function ◽  
Optimization Algorithms ◽  
Gravitational Search Algorithm ◽  
Search Space ◽  
Search Method ◽  
Quantitative Association Rules ◽  
Gravitational Search

The classical optimization algorithms are not efficient in solving complex search and optimization problems. Thus, some heuristic optimization algorithms have been proposed. In this paper, exploration of association rules within numerical databases with Gravitational Search Algorithm (GSA) has been firstly performed. GSA has been designed as search method for quantitative association rules from the databases which can be regarded as search space. Furthermore, determining the minimum values of confidence and support for every database which is a hard job has been eliminated by GSA. Apart from this, the fitness function used for GSA is very flexible. According to the interested problem, some parameters can be removed from or added to the fitness function. The range values of the attributes have been automatically adjusted during the time of mining of the rules. That is why there is not any requirements for the pre-processing of the data. Attributes interaction problem has also been eliminated with the designed GSA. GSA has been tested with four real databases and promising results have been obtained. GSA seems an effective search method for complex numerical sequential patterns mining, numerical classification rules mining, and clustering rules mining tasks of data mining.

scholarly journals A New “Good and Bad Groups-Based Optimizer” for Solving Various Optimization Problems

2021 ◽  
Vol 11 (10) ◽  
pp. 4382
Author(s):  
Ali Sadeghi ◽  
Sajjad Amiri Doumari ◽  
Mohammad Dehghani ◽  
Zeinab Montazeri ◽  
Pavel Trojovský ◽  
...  
Keyword(s):  
Optimization Algorithm ◽  
Optimization Problems ◽  
Search Algorithm ◽  
Fitness Function ◽  
Optimization Algorithms ◽  
Gravitational Search Algorithm ◽  
Gray Wolf ◽  
Good Group ◽  
Good Ability ◽  
Whale Optimization

Optimization is the science that presents a solution among the available solutions considering an optimization problem’s limitations. Optimization algorithms have been introduced as efficient tools for solving optimization problems. These algorithms are designed based on various natural phenomena, behavior, the lifestyle of living beings, physical laws, rules of games, etc. In this paper, a new optimization algorithm called the good and bad groups-based optimizer (GBGBO) is introduced to solve various optimization problems. In GBGBO, population members update under the influence of two groups named the good group and the bad group. The good group consists of a certain number of the population members with better fitness function than other members and the bad group consists of a number of the population members with worse fitness function than other members of the population. GBGBO is mathematically modeled and its performance in solving optimization problems was tested on a set of twenty-three different objective functions. In addition, for further analysis, the results obtained from the proposed algorithm were compared with eight optimization algorithms: genetic algorithm (GA), particle swarm optimization (PSO), gravitational search algorithm (GSA), teaching–learning-based optimization (TLBO), gray wolf optimizer (GWO), and the whale optimization algorithm (WOA), tunicate swarm algorithm (TSA), and marine predators algorithm (MPA). The results show that the proposed GBGBO algorithm has a good ability to solve various optimization problems and is more competitive than other similar algorithms.

scholarly journals Design of Flotation Circuits Using Tabu-Search Algorithms: Multispecies, Equipment Design, and Profitability Parameters

Minerals ◽  
2019 ◽  
Vol 9 (3) ◽  
pp. 181 ◽  
Author(s):  
Freddy Lucay ◽  
Edelmira Gálvez ◽  
Luis Cisternas
Keyword(s):  
Tabu Search ◽  
Approximate Method ◽  
Short Term Memory ◽  
Optimization Problems ◽  
Search Algorithm ◽  
Optimization Technique ◽  
Optimization Techniques ◽  
Adaptive Procedure ◽  
Problem Size ◽  
Combinatorial Optimization Problems

The design of a flotation circuit based on optimization techniques requires a superstructure for representing a set of alternatives, a mathematical model for modeling the alternatives, and an optimization technique for solving the problem. The optimization techniques are classified into exact and approximate methods. The first has been widely used. However, the probability of finding an optimal solution decreases when the problem size increases. Genetic algorithms have been the approximate method used for designing flotation circuits when the studied problems were small. The Tabu-search algorithm (TSA) is an approximate method used for solving combinatorial optimization problems. This algorithm is an adaptive procedure that has the ability to employ many other methods. The TSA uses short-term memory to prevent the algorithm from being trapped in cycles. The TSA has many practical advantages but has not been used for designing flotation circuits. We propose using the TSA for solving the flotation circuit design problem. The TSA implemented in this work applies diversification and intensification strategies: diversification is used for exploring new regions, and intensification for exploring regions close to a good solution. Four cases were analyzed to demonstrate the applicability of the algorithm: different objective function, different mathematical models, and a benchmarking between TSA and Baron solver. The results indicate that the developed algorithm presents the ability to converge to a solution optimal or near optimal for a complex combination of requirements and constraints, whereas other methods do not. TSA and the Baron solver provide similar designs, but TSA is faster. We conclude that the developed TSA could be useful in the design of full-scale concentration circuits.

A Manufacturing Oriented Single Point Search Hyper-Heuristic Scheme for Multi-Objective Optimization

2017 ◽  
Author(s):  
Pei Cao ◽  
Zhaoyan Fan ◽  
Robert Gao ◽  
Jiong Tang
Keyword(s):  
Simulated Annealing Algorithm ◽  
Optimization Problems ◽  
Search Algorithm ◽  
Single Point ◽  
Optimization Techniques ◽  
Multi Objective Optimization ◽  
Nsga Ii ◽  
Practical Applications ◽  
Multi Objective ◽  
Point Search

Multi-objective optimization problems are frequently encountered in engineering analyses. Optimization techniques in practical applications are devised and evaluated mostly for specific problems, and thus may not be generally applicable when applications vary. In this study we formulate a probability matching based hyper-heuristic scheme, then propose four low-level heuristics which can work coherently with the single point search algorithm MOSA/R (Multi-Objective Simulated Annealing Algorithm based on Re-pick) towards multi-objective optimization problems of various properties, namely DTLZ and UF test instances. Making use of the domination amount, crowding distance and hypervolume calculations, the hyper-heuristic scheme could meet different optimization requirements. The approach developed (MOSA/R-HH) exhibits better and more robust performance compared to AMOSA, NSGA-II and MOEA/D as illustrated in the numerical tests. The outcome of this research may potentially benefit various design and manufacturing practices.

scholarly journals Optimizing the Operation Release Policy Using Charged System Search Algorithm: A Case Study of Klang Gates Dam, Malaysia

2021 ◽  
Vol 13 (11) ◽  
pp. 5900
Author(s):  
Sarmad Dashti Latif ◽  
Suzlyana Marhain ◽  
Md Shabbir Hossain ◽  
Ali Najah Ahmed ◽  
Mohsen Sherif ◽  
...  
Keyword(s):  
Steady State ◽  
Search Algorithm ◽  
Optimization Techniques ◽  
Optimum Operating ◽  
Decision Variable ◽  
Charged System Search ◽  
Spreadsheet Model ◽  
Operating Policy ◽  
Charged System ◽  
The Cost

In planning and managing water resources, the implementation of optimization techniques in the operation of reservoirs has become an important focus. An optimal reservoir operating policy should take into consideration the uncertainty associated with uncontrolled reservoir inflows. The charged system search (CSS) algorithm model is developed in the present study to achieve optimum operating policy for the current reservoir. The aim of the model is to minimize the cost of system performance, which is the sum of square deviations from the distinction between the release of the target and the actual demand. The decision variable is the release of a reservoir with an initial volume of storage, reservoir inflow, and final volume of storage for a given period. Historical rainfall data is used to approximate the inflow volume. The charged system search (CSS) is developed by utilizing a spreadsheet model to simulate and perform optimization. The model gives the steady-state probabilities of reservoir storage as output. The model is applied to the reservoir of Klang Gates for the development of an optimal reservoir operating policy. The steady-state optimal operating system is used in this model.

scholarly journals Bacteria Foraging Algorithm for Optimal Topology Construction in Wireless Sensor Networks

2022 ◽  
Vol 13 (1) ◽  
pp. 0-0
Keyword(s):  
Energy Consumption ◽  
Performance Metrics ◽  
Search Algorithm ◽  
Fitness Function ◽  
Gravitational Search Algorithm ◽  
Residual Energy ◽  
Optimization Techniques ◽  
Wireless Sensor ◽  
Optimal Topology ◽  
Topology Construction

Topology control is a significant method to reduce energy consumption and prolong the network lifetime. Connected Dominated Sets (CDS) are the emerging technologies to construct the energy- efficient optimal topology. Traditional topology construction algorithms are not utilized suitable optimization techniques for finding the optimum location of the active nodes in the networks. In this paper, Bacteria Foraging Algorithm (BFA) identifies the optimal location for active nodes to form the virtual backbone of the network. Residual energy and network connectivity are considered to evaluate the fitness function. The performance of the BFA is compared with other algorithms namely A3, A1, Genetic Algorithm (GA), and Gravitational Search Algorithm (GSA) algorithms for considering the performance metrics of the active nodes, residual energy, and connected sensing area coverage. Simulation results show that the proposed methodology performs well for reducing energy consumption and improving the connected sensing coverage area in the wireless sensor network.

scholarly journals Optimal Reservoir of Small Reservoirs by Optimization Techniques on Reservoir Simulation Model

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Krit Sriworamas ◽  
Anongrit Kangrang ◽  
Teerawat Thongwan ◽  
Haris Prasanchum
Keyword(s):  
Simulation Model ◽  
Reservoir Simulation ◽  
Search Algorithm ◽  
Bat Algorithm ◽  
Optimization Techniques ◽  
Flower Pollination Algorithm ◽  
Current Guideline ◽  
Reservoir Simulation Model ◽  
Reservoir Rule Curves ◽  
The Ideal

Reservoir rule curves are essential rules for store activity. This investigation connected the Genetic Algorithm, Firefly Algorithm, Bat Algorithm, Flower Pollination Algorithm, and Tabu Search Algorithm associated with the store reproduction model to look through the ideal supply standard bends, utilizing the Huay Ling Jone and Huay Sabag supplies situated in Yasothorn Province, Thailand, as the contextual investigation. Memorable inflow information of the two repositories were utilized in this investigation, and 1,000 examples of engineered inflows of stores were utilized to recreate the repository activity framework for assessing the acquired principle bends as displayed as far as water circumstances. Circumstances of water lack and abundance water appeared as far as the recurrence extent and length. The outcomes demonstrated that GA, FA, BA, FPA, and TS associated with the reservoir simulation model could give the ideal principle bends which better moderate the drought and flood circumstances contrasted and current guideline bends.

scholarly journals Design and Implementation of PID, GA and Fuzzy logic Controllers for an Electrical Drive with Various Noise Disturbances

2020 ◽  
Vol 9 (3) ◽  
pp. 449-453
Keyword(s):  
Steady State ◽  
Pid Controller ◽  
Fitness Function ◽  
External Noise ◽  
Pid Controllers ◽  
Matlab Simulation ◽  
State Behavior ◽  
Intelligent Technique ◽  
Noise Disturbances ◽  
Transient And Steady State

It is a great challenge for human being to keep up the constant speed in drive when external Noise disturbances occur due to fluctuations of power supply. In order to avoid these issues, PID controllers are intended using predictable method such as Ziegler Nichols method. But finest level is not obtained in transient and steady state. During the MATLAB Simulation, the error is present transient and steady state behavior in conventional PID controllers. Hence it is necessary to design a PID controller with Novel intelligent technique for speed control of drive like fuzzy and Genetic Algorithm. It considers error as fitness function which is to be minimized using various GA operators such as mutation etc. The Drive will be operated with different external noises like sinusoidal noise, Saw tooth noise and Ramp noise and comparison between PID, GA and Fuzzy PID will be presented and their performances are studied.

Cuckoo Search Algorithm for Hydrothermal Scheduling Problem

2016 ◽  
pp. 367-400 ◽  
Author(s):  
Thang Trung Nguyen ◽  
Dieu Ngoc Vo
Keyword(s):  
Optimization Problems ◽  
Search Algorithm ◽  
Fitness Function ◽  
Optimal Solution ◽  
Cuckoo Search ◽  
Cuckoo Search Algorithm ◽  
Scheduling Problems ◽  
Short Term ◽  
Step Size ◽  
Hydrothermal Scheduling

This chapter proposes a Cuckoo Search Algorithm (CSA) and a Modified Cuckoo Search Algorithm (MCSA) for solving short-term hydrothermal scheduling (ST-HTS) problem. The CSA method is a new meta-heuristic algorithm inspired from the obligate brood parasitism of some cuckoo species by laying their eggs in the nests of other host birds of other species for solving optimization problems. In the MCSA method, the eggs are first classified into two groups in which ones with low fitness function are put in top group whereas others with higher fitness function are put in abandoned group. In addition, an updated step size in the MCSA changes and tends to decrease as the iteration increases leading to near global optimal solution. The robustness and effectiveness of the CSA and MCSA are tested on several systems with different objective functions of thermal units. The results obtained by the CSA and MCSA are analyzed and compared have shown that the two methods are favorable for solving short-term hydrothermal scheduling problems.

Sign in / Sign up

Export Citation Format

Share Document