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Nonlinear Adaptive PID Controller based on a Cell-mediated Immune Response and a Gradient Descent Learning  

Park Jin-Hyun (진주산업대학교 메카트로닉스공학과)
Lee Tae-Hwan (진주산업대학교 메카트로닉스공학과)
Choi Young-Kiu (부산대학교 전자전기정보컴퓨터공학부)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.10, no.1, 2006 , pp. 88-95 More about this Journal
Abstract
PID controllers, which have been widely used in industry, have a simple structure and robustness to modeling error. But They we difficult to have uniformly good control performance in system parameters variation or different velocity command. In this paper, we propose a nonlinear adaptive PID controller based on a cell-mediated immune response and a gradient descent learning. This algorithm has a simple structure and robustness to system parameters variation. To verify performances of the proposed nonlinear adaptive PID controller, the speed control of nonlinear DC motor is performed. The simulation results show that the proposed control systems are effective in tracking a command velocity under system parameters variation.
Keywords
cell-mediated immune response; nonlinear adaptive PID controller;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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