Particle swarm-based and neuro-based fopid controllers for a twin rotor system with improved tracking performance and energy reduction

Abstract

This paper examines two approaches in tuning fractional order proportional-integral-differential (FOPID) control named as neuro-based FOPID (NNFOPID) and particle swarm-based FOPID (PSOFOPID) for pitch control of a Twin Rotor Aerodynamic System (TRAS). For the neuro-based FOPID control, the innovations are the modification of output equation in the artificial neural network and the implementation of the Rectified Linear Unit (ReLU) activation function. The advantages of the proposed approach are a lighter network and the ability to tune more practical controller parameters without a deep knowledge of the system to achieve a satisfying pitch tracking response. As for the particle swarm-based FOPID control, the application of PSO with spreading factor algorithm is extended for tuning the FOPID controller gains and the innovation here is a new procedure in setting the initial search range. The important advantages of this proposed swarm-based algorithm are the avoidance of being trapped in local optima and reduction of the search area respectively. The performances of the proposed controllers are proven by extensive simulations and experimental verifications based on five standard criteria: square-wave characteristics, reference to disturbance ratio, evaluation time, energy consumption of the control signal and tracking performance. The performances of the proposed controllers are compared against an optimised PID control in three system conditions, namely Case I) without coupling effect and wind disturbance, Case II) with coupling effect only and Case III) with wind disturbance only. Together, this study finds that NNFOPID control offers an accurate system positioning by a 34% reduction in steady-state error with the lowest energy consumption and minimum evaluation time in Case II. In terms of the tracking performance and robustness for Case II, the superiority of PSOFOPID control is confirmed by a 27% reduction in the tracking error and the lowest oscillation value. The experimental results also validate the robustness and energy consumption of both controllers in Case III. It is envisaged that the proposed control designs can be very useful in tuning FOPID controller gains for high performance, low energy, and robust aerodynamics systems.