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PID controller design for a twin rotor MIMO system using real coded GA optimisation

Toha, Siti Fauziah and Tokhi, M. Osman (2009) PID controller design for a twin rotor MIMO system using real coded GA optimisation. In: Proceedings of CLAWAR 2009 : The Tweltfh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 9-11 September 2009, Istanbul, Turkey.

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Abstract

This paper presents a scrutinized investigation to control the rigid body motion of a laboratory scale helicopter, a twin rotor multi input multi output system (TRMS), using PID control. The controller is optimized using a real-coded genetic algorithm (GA). Instead of working on the conventional bit by bit operation in binary coded GA, both the crossover and mutation operators are real valued. The real-coded GA is effectively used in this work which shows reduced computational complexity, faster convergence and more accurate results as compared to binary coded GA. Experimental results are obtained using a laboratory set-up system, confirming the viability and effectiveness of the proposed methodology. The results and evidence from this method are justified, presented and described.

Item Type: Conference or Workshop Item (Full Paper)
Additional Information: 4680/18795
Uncontrolled Keywords: Bit-operations; Crossover and mutation; Faster convergence; PID controller design; Real-coded genetic algorithm; Rigid-body motion; Twin Rotor MIMO System; Twin rotor multi-input multi-output systems
Subjects: T Technology > T Technology (General)
T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Dr. Siti Fauziah Toha
Date Deposited: 03 Nov 2014 15:22
Last Modified: 08 Jan 2015 17:18
URI: http://irep.iium.edu.my/id/eprint/18795

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