Mok, Ren Hao and Mohd Ashraf, Ahmad (2024) Performance evaluation of smoothed functional algorithm based methods for sigmoid-PID control optimization in MIMO twin-rotor systems. In: Proceedings of the 7th International Conference on Electrical, Control and Computer Engineering–Volume 1. Lecture Notes in Electrical Engineering; 7th International Conference on Electrical, Control and Computer Engineering (InECCE 2023) , 22 August 2023 , Kuala Lumpur. pp. 411-431., 1212. ISSN 1876-1100 ISBN 978-981-97-3847-2 (Published)
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Abstract
This paper explores the tuning of the Sigmoid Proportional-Integral-Derivative (SPID) controller using variations of the Smoothed Functional Algorithm (SFA) for the underactuated Multiple-Input Multiple-Output (MIMO) twin-rotor system. The SPID controller, incorporating a sigmoid function, extends the applicability of traditional PID controllers to complex, non-linear systems. However, SPID tuning presents challenges due to the added control parameters and the inherent non-linearity of the sigmoid function. To effectively tune the SPID controller, SFA is recommended, which stochastically optimizes the parameter space without requiring an explicit mathematical model. However, the standard SFA suffers from unstable convergence issues, necessitating modified approaches such as the Norm-Limited SFA (NLSFA) and Memory-Based SFA (MSFA). NLSFA constrains gradient approximation within boundaries, preventing excessively large approximations that lead to divergence but at the cost of an additional optimization parameter. The MSFA introduces a memory function to consider optimal solutions from previous iterations, promoting continuous convergence. The effectiveness of these SFA variations in optimizing SPID controllers for a MIMO twin-rotor system is compared, offering insights into the control and optimization of complex non-linear systems.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | Smoothed function algorithm; Sigmoid proportional; Integral; Derivative; Multiple; Input multiple; Output |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Institute of Postgraduate Studies Faculty of Electrical and Electronic Engineering Technology |
| Depositing User: | Mrs Norsaini Abdul Samat |
| Date Deposited: | 10 Mar 2025 01:29 |
| Last Modified: | 10 Mar 2025 01:29 |
| URI: | http://umpir.ump.edu.my/id/eprint/44018 |
| Download Statistic: | View Download Statistics |
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