A Novel Bacterial Foraging Algorithm for Automated tuning of PID controllers of UAVs

摘要：

Up to now, PID controllers have been widely deployed in Unmanned Aerial Vehicles (UAVs) and other automatical control systems, and have the benefit of simple tuning performed by trial and error. Their applications avoid some complicated modeling efforts however tuning these controllers do need experienced operators and may sometimes be time consuming. This paper presents a novel approach that could be used for the automatic tuning of a PID controller for a UAV. This approach relies on the bacteria foraging technique to guide the search for the optimal parameters of a PID controller in the parameters search space. Experimental results show that the proposed approach is able to improve the parameters chosen by the classical Ziegler Nicholas method.

关键词： Bacterium Inspired Algorithm Environmental Monitoring Flocking PID control

作者: John Oyekan Huosheng Hu

作者单位: School of Computer Science and Electronic Engineering University of Essex,Wivenhoe Park,Colchester CO3 4SQ,United Kingdom

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）