Applying Particle Swarm Optimization to Adaptive Controller

摘要

A design for a model-free learning adaptive control (MFLAC) based on pseudogradient concepts and optimization procedure by particle swarm optimization (PSO) is presented in this paper. PSO is a method for optimizing hard numerical functions on metaphor of social behavior of flocks of birds and schools of fish. A swarm consists of individuals, called particles, which change their positions over time. Each particle represents a potential solution to the problem. In a PSO system, particles fly around in a multi-dimensional search space. During its flight each particle adjusts its position according to its own experience and the experience of its neighboring particles, making use of the best position encountered by itself and its neighbors. The performance of each particle is measured according to a predefined fitness function, which is related to the problem being solved. The PSO has been found to be robust and fast in solving non-linear, non-differentiable, multi-modal problems. Motivation for application of PSO approach is to overcome the limitation of the conventional MFLAC design, which cannot guarantee satisfactory control performance when the plant has different gains for the operational range when designed by trial-and-error by user. Numerical results of the MFLAC with particle swarm optimization for a nonlinear control valve are showed.