Hybrid Intelligent PID Control for MIMO System

  • Jih-Gau Juang
  • Kai-Ti Tu
  • Wen-Kai Liu
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4234)

Abstract

This paper presents a new approach using switching grey prediction PID controller to an experimental propeller setup which is called the twin rotor multi-input multi-output system (TRMS). The goal of this study is to stabilize the TRMS in significant cross coupling condition and to experiment with set-point control and trajectory tracking. The proposed scheme enhances the grey prediction method of difference equation, which is a single variable second order grey model (DGM(2,1) model). It is performed by real-value genetic algorithm (RGA) with system performance index as fitness function. We apply the integral of time multiplied by the square error criterion (ITSE) to form a suitable fitness function in RGA. Simulation results show that the proposed design can successfully adapt system nonlinearity and complex coupling condition.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Jih-Gau Juang
    • 1
  • Kai-Ti Tu
    • 1
  • Wen-Kai Liu
    • 1
  1. 1.Department of Communications and Guidance EngineeringNational Taiwan Ocean UniversityKeelungTaiwan,ROC

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