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Title page for etd-0904112-173651


URN etd-0904112-173651 Statistics This thesis had been viewed 1276 times. Download 0 times.
Author Kuang-Ping Peng
Author's Email Address No Public.
Department Electrical Engineering
Year 2011 Semester 2
Degree Master Type of Document Master's Thesis
Language English Page Count 45
Title PID CONTROLLER PARAMETER ESTIMATION USING ANT COLONY ALGORITHM
Keyword
  • inverted pendulum system
  • integral of time and absolute error
  • Ant colony algorithm
  • PID controller
  • PID controller
  • Ant colony algorithm
  • integral of time and absolute error
  • inverted pendulum system
  • Abstract In this thesis, we propose an ant colony algorithm (ACA) estimator to obtain the parameters of (Proportional-Integral-Derivative) PID controller. Because the ACA is a cooperative agent algorithm, its characteristic is the positive feedback, distributed computation, and the use of a constructive greedy heuristic. Therefore, the structure of the ACA estimator is the three ACA sets in which are parallel structure. And, each ACA set is expressed as the parameters of the PID controller, KP, KI, and KD, respectively. The searching pattern of each ACA set is five layers in which each layer is ten nodes. These searching patterns are expressed as each PID parameter is five-bit decimal real number. In addition, integral of time and absolute error (ITAE) and the tracking error are cited into the cost function of ACA set to update the pheromones of ACA set. Finally, the effectiveness of the proposed controller has been verified by simulations using the inverted pendulum system. It can be improved the accuracy to estimate PID parameters.
    Advisor Committee
  • Hung-Ching Lu - advisor
  • Cheng-Hung Tsai - co-chair
  • Ming-Feng Yeh - co-chair
  • Files indicate in-campus access at 5 years and off-campus not accessible
    Date of Defense 2012-07-09 Date of Submission 2012-09-04


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