3.8 Proceedings Paper

Swarm-based Auto-tuning of PID Posicast Control for Uncertain Systems

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IEEE

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Funding

  1. ERDF European Regional Development Fund through the COMPE IE Programme (operational programme for competitiveness)
  2. National Funds through the FCT - Fundacao para a Ciencia e a Tecnologia (Portuguese Foundation for Science and Technology) [FCOMP-01-0124-FEDER-022701]

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Posicast feedback control systems are very sensitive to model uncertainty. This paper proposes the use of Particle Swarm Optimization (PSO) to auto-tune two-degrees of freedom control systems. The system considers as a pre-filter a half-cycle Posicast command shaper and a PID controller in the feedback loop. A model reference technique is proposed to track differences among model and system to be controlled, feeding a decision block which will trigger an auto-tuning optimization mechanism. Preliminary simulation results are presented showing the proposed technique effectiveness to deal with prescribed plant uncertainties.

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