PID controller design for a twin rotor MIMO system using real coded GA optimisation
This paper presents a scrutinized investigation to control the rigid body motion of a laboratory scale helicopter, a twin rotor multi input multi output system (TRMS), using PID control. The controller is optimized using a real-coded genetic algorithm (GA). Instead of working on the convention...
| Main Authors: | , |
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| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/18795/ http://irep.iium.edu.my/18795/1/PID_Final_C.pdf http://irep.iium.edu.my/18795/4/9789814291279_fmatter.pdf |
| _version_ | 1848778251341660160 |
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| author | Toha, Siti Fauziah Tokhi, M. Osman |
| author_facet | Toha, Siti Fauziah Tokhi, M. Osman |
| author_sort | Toha, Siti Fauziah |
| building | IIUM Repository |
| collection | Online Access |
| description | This paper presents a scrutinized investigation to control the rigid body motion of a
laboratory scale helicopter, a twin rotor multi input multi output system (TRMS), using
PID control. The controller is optimized using a real-coded genetic algorithm (GA).
Instead of working on the conventional bit by bit operation in binary coded GA, both the
crossover and mutation operators are real valued. The real-coded GA is effectively used
in this work which shows reduced computational complexity, faster convergence and
more accurate results as compared to binary coded GA. Experimental results are obtained
using a laboratory set-up system, confirming the viability and effectiveness of the
proposed methodology. The results and evidence from this method are justified,
presented and described. |
| first_indexed | 2025-11-14T14:58:54Z |
| format | Proceeding Paper |
| id | iium-18795 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T14:58:54Z |
| publishDate | 2009 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-187952015-01-08T09:18:58Z http://irep.iium.edu.my/18795/ PID controller design for a twin rotor MIMO system using real coded GA optimisation Toha, Siti Fauziah Tokhi, M. Osman T Technology (General) TJ212 Control engineering This paper presents a scrutinized investigation to control the rigid body motion of a laboratory scale helicopter, a twin rotor multi input multi output system (TRMS), using PID control. The controller is optimized using a real-coded genetic algorithm (GA). Instead of working on the conventional bit by bit operation in binary coded GA, both the crossover and mutation operators are real valued. The real-coded GA is effectively used in this work which shows reduced computational complexity, faster convergence and more accurate results as compared to binary coded GA. Experimental results are obtained using a laboratory set-up system, confirming the viability and effectiveness of the proposed methodology. The results and evidence from this method are justified, presented and described. 2009 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/18795/1/PID_Final_C.pdf application/pdf en http://irep.iium.edu.my/18795/4/9789814291279_fmatter.pdf Toha, Siti Fauziah and Tokhi, M. Osman (2009) PID controller design for a twin rotor MIMO system using real coded GA optimisation. In: Proceedings of CLAWAR 2009 : The Tweltfh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 9-11 September 2009, Istanbul, Turkey. http://www.worldscientific.com/worldscibooks/10.1142/7543#t=toc |
| spellingShingle | T Technology (General) TJ212 Control engineering Toha, Siti Fauziah Tokhi, M. Osman PID controller design for a twin rotor MIMO system using real coded GA optimisation |
| title | PID controller design for a twin rotor MIMO system using real coded GA optimisation |
| title_full | PID controller design for a twin rotor MIMO system using real coded GA optimisation |
| title_fullStr | PID controller design for a twin rotor MIMO system using real coded GA optimisation |
| title_full_unstemmed | PID controller design for a twin rotor MIMO system using real coded GA optimisation |
| title_short | PID controller design for a twin rotor MIMO system using real coded GA optimisation |
| title_sort | pid controller design for a twin rotor mimo system using real coded ga optimisation |
| topic | T Technology (General) TJ212 Control engineering |
| url | http://irep.iium.edu.my/18795/ http://irep.iium.edu.my/18795/ http://irep.iium.edu.my/18795/1/PID_Final_C.pdf http://irep.iium.edu.my/18795/4/9789814291279_fmatter.pdf |