Adaptive PID control based on orthogonal endocrine neural networks.
A new intelligent hybrid structure used for online tuning of a PID controller is proposed in this paper. The structure is based on two adaptive neural networks, both with built-in Chebyshev orthogonal polynomials. First substructure network is a regular orthogonal neural network with implemented artificial endocrine factor (OENN), in the form of environmental stimuli, to its weights. It is used for approximation of control signals and for processing system deviation/disturbance signals which are introduced in the form of environmental stimuli. The output values of OENN are used to calculate artificial environmental stimuli (AES), which represent required adaptation measure of a second network-orthogonal endocrine adaptive neuro-fuzzy inference system (OEANFIS). OEANFIS is used to process control, output and error signals of a system and to generate adjustable values of proportional, derivative, and integral parameters, used for online tuning of a PID controller. The developed structure is experimentally tested on a laboratory model of the 3D crane system in terms of analysing tracking performances and deviation signals (error signals) of a payload. OENN-OEANFIS performances are compared with traditional PID and 6 intelligent PID type controllers. Tracking performance comparisons (in transient and steady-state period) showed that the proposed adaptive controller possesses performances within the range of other tested controllers. The main contribution of OENN-OEANFIS structure is significant minimization of deviation signals (17%-79%) compared to other controllers. It is recommended to exploit it when dealing with a highly nonlinear system which operates in the presence of undesirable disturbances.
University of Niš, Faculty of Electronic Engineering, Department of Control Systems, Aleksandra Medvedeva 14, 18000 Niš, Serbia. Electronic address: miroslav.b.milovanovic@elfak.ni.ac.rs.
Miroslav B
MB
Milovanović
University of Niš, Faculty of Electronic Engineering, Department of Control Systems, Aleksandra Medvedeva 14, 18000 Niš, Serbia. Electronic address: dragan.antic@elfak.ni.ac.rs.
Dragan S
DS
Antić
University of Niš, Faculty of Electronic Engineering, Department of Control Systems, Aleksandra Medvedeva 14, 18000 Niš, Serbia. Electronic address: marko.milojkovic@elfak.ni.ac.rs.
Marko T
MT
Milojković
University of Niš, Faculty of Electronic Engineering, Department of Control Systems, Aleksandra Medvedeva 14, 18000 Niš, Serbia. Electronic address: sasa.s.nikolic@elfak.ni.ac.rs.
Saša S
SS
Nikolić
University of Niš, Faculty of Electronic Engineering, Department of Control Systems, Aleksandra Medvedeva 14, 18000 Niš, Serbia. Electronic address: stanisa.peric@elfak.ni.ac.rs.
Staniša Lj
SL
Perić
University of Niš, Faculty of Electronic Engineering, Department of Control Systems, Aleksandra Medvedeva 14, 18000 Niš, Serbia. Electronic address: miodrag.spasic@elfak.ni.ac.rs.
Miodrag D
MD
Spasić
D000465:Algorithms; D003198:Computer Simulation; D004703:Endocrine System; D004777:Environment; D008962:Models, Theoretical; D016571:Neural Networks, Computer; D012815:Signal Processing, Computer-Assisted
ANFIS; Adaptive PID controller; Chebyshev orthogonal polynomials; Endocrine factor; Neural network