Fractional fixed-structure H∞ controller design using Augmented Lagrangian Particle Swarm Optimization with Fractional Order Velocity

The optimization of a fixed-structure controller is in general computationally intractable, posing a challenge to control system engineers. This paper introduces a novel technique for designing such control techniques by formulating it as a nonlinear non-convex constrained problem. A novel PSO algorithm, namely the Augmented Lagrangian Particle Swarm Optimization with Fractional Order Velocity (ALPSOFV), is proposed for improving the convergence rate. The structure of the controller is selectable and, therefore, the Fractional Order Proportional Integral Derivative (FOPID) algorithm is chosen in the scope of the study. The results for three test examples show the good performance of the ALPSOFV. (C) 2019 Elsevier B.V. All rights reserved.