PID Tuning and Control for 2-DOF Helicopter Using Particle Swarm Optimization

摘要

This paper proposes a proportional-integral-derivative (PID) design of nonlinear multi-input multi-output (MIMO) system called 2 degree-of-freedom (2-DOF) helicopter using particle swarm optimization (PSO) algorithm. The control of 2-DOF helicopter is very challenging task due to its high nonlinearity and complexity. The objective of the control is to control aerodynamic force of 2-DOF helicopter by varying the speed of the pitch and yaw motor and thus tracking their reference position. Statistical measurement and convergence analysis is done for the optimization of gain parameters of the PID controller of 2-DOF helicopter using PSO, modified PSO (MPSO) and genetic algorithm (GA) for equal repetitions of the function evaluation by iteratively minimizing integral of squared error (ISE), integral of time multiplied by the squared error (ITSE) for 25 independent trials. The numerical simulation results analysis shows the effectiveness of MPSO and PSO compared to GA in controlling the positions of 2-DOF helicopter with consistent tracking.