Abstract
This paper deals with the modeling and optimization of a PID 2 DOF controller design for a Hybrid vehicle. Such a Particle Swarm Optimization (PSO) based PID 2Dof controller is investigated in order to stabilize both the velocity of studied vehicle. The aim goal of this paper is to improve the effectiveness of synthesized control using the strategy of a canonical PSO optimization to tune its weighting matrices instead to configure it by a trials-errors method. This work reminds firstly to describe all aerodynamic forces and moments of the hybrid vehicle within an inertial frame and a dynamical model is obtained thanks to the Lagrange formalism. A 2Dof PID controller is then designed for the Velocity stabilization of the studied vehicle. Several PSO updating strategies are proposed to enhance the stability and the rapidity of our studied system through minimizing a definite cost function of’ controller’s weighting matrices. The obtained results are carried out in order to show the effectiveness and robustness of the different PSO updating strategies based the 2Dof PID Controller.
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Hmidi, M.E., Salem, I.B., Amraoui, L.E. (2019). Canonical Particle Swarm Optimization Algorithm Based a Hybrid Vehicle. In: Derbel, N., Ghommam, J., Zhu, Q. (eds) New Developments and Advances in Robot Control. Studies in Systems, Decision and Control, vol 175. Springer, Singapore. https://doi.org/10.1007/978-981-13-2212-9_10
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DOI: https://doi.org/10.1007/978-981-13-2212-9_10
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