Optimal Design of PID Controllers Using a Modified Ant Colony Algorithm for Continuous Domains

In this paper, the optimal design and tuning of PID controllers using the IAE performance criterion, plus constraints on various closed-loop system characteristics, such as the amplitude of peak response, is presented. The optimal solution is searched for by MACO which is a modified version of a model-based search algorithm called Ant Colony Optimization for Continuous Domains ( ACO). The modifications have been made to ACO to improve the computational efficiency of the algorithm. A comparison is made with other works that have used ant-based optimization methods for designing PID controllers. Simulation results show that convergence is up to 100 times faster than algorithms used in similar works. Further, the MACO designed systems demonstrate much better performances in terms of rise time, settling time, overshoot and undershoot.

کلیدواژه ها:

Ant colony optimization ، continuous- domain optimization ، PID controller ، computer- aided design.