Single Chip Self-Tunable N-Input N-Output PID Control System with Integrated Analog Front-end for Miniature Robotics

摘要

In this work, we explore the design of an integrated, low power single chipmulti-channel Proportional-Integral-Derivative (PID) controller for emergingminiature robotics, that includes N inputs and N corresponding outputs therebyresulting in N parallel channels in the control system. It includes analogfront-end (AFE) and analog PID controllers for PID parameter tuning based onPSO algorithm. The AFE incorporates adaptive biasing to ensure low power. ThePSO is optimized with respect to tuning precision, power and area. This makesit attractive for real-time tuning of multiple miniaturized robotic deviceswith a single PSO tuning algorithm block assigned for the task. For simulationand testing purposes, we take N as 3 with the channels being defined by theirapplication-ends or plants, namely: dc motor, temperature sensor and gyroscope.