PID controller design for a twin rotor MIMO system using real coded GA optimisation
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 convention...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/18795/ http://irep.iium.edu.my/18795/ http://irep.iium.edu.my/18795/1/PID_Final_C.pdf http://irep.iium.edu.my/18795/4/9789814291279_fmatter.pdf |
| Summary: | 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. |
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