Intelligent PID controller based on ant system algorithm and fuzzy inference and its application to bionic artificial leg

Abstract

A designing method of intelligent proportional-integral-derivative(PID) controllers was proposed based on the ant system algorithm and fuzzy inference. This kind of controller is called Fuzzy-ant system PID controller. It consists of an off-line part and an on-line part. In the off-line part, for a given control system with a PID controller, by taking the overshoot, setting time and steady-state error of the system unit step response as the performance indexes and by using the ant system algorithm, a group of optimal PID parameters K*_p, T/*_i and T*_d can be obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-line part, based on K*_p, T*_i and T*_d and according to the current system error e and its time derivative, a specific program is written, which is used to optimize and adjust the PID parameters on-line through a fuzzy inference mechanism to ensure that the system response has optimal transient and steady-state performance. This kind of intelligent PID controller can be used to control the motor of the intelligent bionic artificial leg designed by the authors. The result of computer simulation experiment shows that the controller has less overshoot and shorter setting time.

Keywords

ant system algorithm / fuzzy inference / PID controller / Fuzzy-ant system PID controller / intelligent bionic artificial leg