PID controller design for a twin rotor MIMO system using real coded GA optimisation

• Main Authors: Toha, Siti Fauziah, Tokhi, M. Osman
• Format: Conference or Workshop Item
• Language: English; English
• Published: 2009
• Subjects: T Technology (General); TJ212 Control engineering
• Online Access: http://irep.iium.edu.my/18795/1/PID_Final_C.pdf; http://irep.iium.edu.my/18795/4/9789814291279_fmatter.pdf; http://irep.iium.edu.my/18795/; http://www.worldscientific.com/worldscibooks/10.1142/7543#t=toc
• Institution: Universiti Islam Antarabangsa Malaysia

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.