Evolutionary Design of Controllers with Optimized Structure and Its Application in a Maglev Ball Control System
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- 英文论文题名：Evolutionary Design of Controllers with Optimized Structure and Its Application in a Maglev Ball Control System
- 论文作者：Zhan Jiaoyang ; Xin Bin ; Chen Jie
- 英文论文作者：Zhan Jiaoyang ; Xin Bin ; Chen Jie ; School of Automation ; Beijing Institute of Technology ; Key Laboratory of Intelligent Control and Decision of Complex Systems ; Beijing Advanced Innovation Center for Intelligent Robots and Systems ; Beijing Institute of Technology
- 年：2017
- 作者机构：School of Automation,Beijing Institute of Technology;Key Laboratory of Intelligent Control and Decision of Complex Systems;Beijing Advanced Innovation Center for Intelligent Robots and Systems,Beijing Institute of Technology;
- 英文论文关键词：Optimal Design of Controllers ; Structural Optimization ; Library-based Controller Design ; Intelligent Optimization ; Differential Evolution
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（B）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
- 语种：英文
- 分类号：TP273
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：932k
- 原文格式：D
- 会议级别：全国
摘要
In order to realize the flexible automatic design of controllers, this paper proposes a library-based controller design method with bi-level optimization of structure and parameters. The controller with optimized structure is composed by components which are selected from a component library. A binary string is used to express a controller structure, where each bit represents the connection relationship between two links. The controller structure and parameters are optimized in a hierarchical manner by the binary Geometric Differential Evolution Algorithm in the outer layer and an advanced Differential Evolution algorithm variant named JADE in the inner layer, respectively. Simulation and experiment of a magnetic levitation ball control system have been done to verify the performance of the presented controller. Results demonstrate the feasibility and superiority of the proposed method.
In order to realize the flexible automatic design of controllers, this paper proposes a library-based controller design method with bi-level optimization of structure and parameters. The controller with optimized structure is composed by components which are selected from a component library. A binary string is used to express a controller structure, where each bit represents the connection relationship between two links. The controller structure and parameters are optimized in a hierarchical manner by the binary Geometric Differential Evolution Algorithm in the outer layer and an advanced Differential Evolution algorithm variant named JADE in the inner layer, respectively. Simulation and experiment of a magnetic levitation ball control system have been done to verify the performance of the presented controller. Results demonstrate the feasibility and superiority of the proposed method.
In order to realize the flexible automatic design of controllers, this paper proposes a library-based controller design method with bi-level optimization of structure and parameters. The controller with optimized structure is composed by components which are selected from a component library. A binary string is used to express a controller structure, where each bit represents the connection relationship between two links. The controller structure and parameters are optimized in a hierarchical manner by the binary Geometric Differential Evolution Algorithm in the outer layer and an advanced Differential Evolution algorithm variant named JADE in the inner layer, respectively. Simulation and experiment of a magnetic levitation ball control system have been done to verify the performance of the presented controller. Results demonstrate the feasibility and superiority of the proposed method.
引文
[1]Zeng Zhezhao,He Ying,Zhang Chang,et al.,Research on Nonlinear PID Control Method for Self-learning[J],Computer Engineering,40(10):224-227,2014(In Chinese).
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[4]Zhao Chunzhe,Huang Yi,ADRC based integrated guidance and control scheme for the interception of maneuvering targets with desired los angle[C],In:Proceedings of the 201029th Chinese Control Conference(CCC),6192-6196,2010.
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[7]Zamani M,Karimi-Ghartemani M,Sadati N,etc.,Design of a fractional order PID controller for an AVR using particle swarm optimization[J],Control Engineering Practice,17(12):1380-1387,2009.
[8]HA Varol Z Bingul,A New PID Tuning Technique Using Ant Algorithm,Proceeding of the 2004 American Control Conference Boston,Massachusetts June 30-July 2,2154-2159,2004.
[9]Li C,Lian J,The application of immune genetic algorithm in PID parameter optimization for level control system[C],In:Proceedings of the 2007 IEEE International Conference on Automation and Logistics,782-786,2007.
[10]Yukun Bao,Zhongyi Hu,Tao Xiong,A PSO and pattern search based memetic algorithm for SVMs parameters optimization,Neurocomputing,117:98-106,6 October2013.
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[14]Sun Zhenlu,Xin Bin,and Chen Jie,Optimal design of controllers based on libraries and differential evolution[C],in:Proceedings of the 2015 34th Chinese Control Conference(CCC),5599-5604,2015.
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[16]Gong T,Tuson A L.Differential evolution for binary encoding[J].Soft Computing in Industrial Applications,2007:251-262.
[17]Zhang J,Sanderson A C,JADE:adaptive differential evolution with optional external archive[J],IEEETransactions on Evolutionary Computation,13(5):945-958,2009.
[18]Installation and experiments of Automatic Control of the Magnetic Levitation Experimental Device[Z],Googol Technology limited,2010(In Chinese).
[19]Ghosh A,Krishnan T R,Tejaswy P,et al,Design and implementation of a 2-DOF PID compensation for magnetic levitation systems[J],ISA transactions,53(4):1216-1222,2014.
[2]Tanaka K,Wang H O,Fuzzy control systems design and analysis:a linear matrix inequality approach[M],New York:John Wiley&Sons,2004.
[3]Krstic M,Kokotovic P V,Kanellakopoulos I,Nonlinear and adaptive control design[M],New York:John Wiley&Sons,1995.
[4]Zhao Chunzhe,Huang Yi,ADRC based integrated guidance and control scheme for the interception of maneuvering targets with desired los angle[C],In:Proceedings of the 201029th Chinese Control Conference(CCC),6192-6196,2010.
[5]Karasakal O,Guzelkaya M,Eksin I,et al.,Online tuning of fuzzy PID controllers via rule weighing based on normalized acceleration[J],Engineering Applications of Artificial Intelligence,26(1):184-197,2013.
[6]Tufan K,A simple design method for interval type-2 fuzzy pid controllers[J],Soft Computing,18(7):1293-1304,2014.
[7]Zamani M,Karimi-Ghartemani M,Sadati N,etc.,Design of a fractional order PID controller for an AVR using particle swarm optimization[J],Control Engineering Practice,17(12):1380-1387,2009.
[8]HA Varol Z Bingul,A New PID Tuning Technique Using Ant Algorithm,Proceeding of the 2004 American Control Conference Boston,Massachusetts June 30-July 2,2154-2159,2004.
[9]Li C,Lian J,The application of immune genetic algorithm in PID parameter optimization for level control system[C],In:Proceedings of the 2007 IEEE International Conference on Automation and Logistics,782-786,2007.
[10]Yukun Bao,Zhongyi Hu,Tao Xiong,A PSO and pattern search based memetic algorithm for SVMs parameters optimization,Neurocomputing,117:98-106,6 October2013.
[11]Jones K O,Bouffet A,Comparison of bees algorithm,ant colony optimisation and particle swarm optimisation for PIDcontroller tuning[C],In:Proceedings of the 9th International Conference on Computer Systems and Technologies,3(9):1-6,2008.
[12]Koza J R,Keane M A,Yu J,et al.,Automatic synthesis of both the control law and parameters for a controller for a three-lag plant with five-second delay using genetic programming and simulation techniques[C],in:Proceedings of the 2000 American Control Conference,453-459,2000.
[13]Zhou Kaiting,Study of Optimal Control Based on Genetic Algorithms[D],Quanzhou:Huaqiao University,1999(In Chinese).
[14]Sun Zhenlu,Xin Bin,and Chen Jie,Optimal design of controllers based on libraries and differential evolution[C],in:Proceedings of the 2015 34th Chinese Control Conference(CCC),5599-5604,2015.
[15]Price K,Storn R M,Lampinen J A.Differential evolution:a practical approach to global optimization[M],Heidelberg:Springer,2005.
[16]Gong T,Tuson A L.Differential evolution for binary encoding[J].Soft Computing in Industrial Applications,2007:251-262.
[17]Zhang J,Sanderson A C,JADE:adaptive differential evolution with optional external archive[J],IEEETransactions on Evolutionary Computation,13(5):945-958,2009.
[18]Installation and experiments of Automatic Control of the Magnetic Levitation Experimental Device[Z],Googol Technology limited,2010(In Chinese).
[19]Ghosh A,Krishnan T R,Tejaswy P,et al,Design and implementation of a 2-DOF PID compensation for magnetic levitation systems[J],ISA transactions,53(4):1216-1222,2014.