A PSO method with nonlinear time-varying evolution for optimal design of PID controllers in a pendubot system

摘要

A particle swarm optimization method with nonlinear time-varying evolution (PSO-NTVE) is employed in designing an optimal PID controller for asymptotic stabilization of a pendubot system. In the PSO-NTVE method, parameters are determined by using matrix experiments with an orthogonal array, in which a minimal number of experiments would have an effect that approximates the full factorial experiments. The PSO-NTVE method and other PSO methods are then applied to design an optimal PID controller in a pendubot system. Comparing the simulation results, the feasibility and the superiority of the PSO-NTVE method are verified.