摘要
In this paper, a new algorithm which integrates the powerful firefly algorithm(FA) and the ant colony optimization(ACO) has been used in tracking control of ship steering for optimization of fractional-order proportional-integral-derivative(FOPID) controller gains. Particle swarm optimization(PSO) algorithm is also used to optimize FOPID controllers, and their performances are compared. It is found that FA optimized FOPID controller gives better performance than others. Sensitivity analysis has been carried out to see the robustness of optimum FOPID gains obtained at nominal conditions to wide changes in system parameters, and the optimum FOPID gains need not be reset for wide changes in system parameters.
In this paper, a new algorithm which integrates the powerful firefly Mgorithm （FA） and the ant colony optimization （ACO） has been used in tracking control of ship steering for optimization of fractional-order proportional-integral-derivative （FOPID） controller gains. Particle swarm optimization （PSO） algorithm is also used to optimize FOPID controllers, and their performances are compared. It is found that FA optimized FOPID controller gives better performance than others. Sensitivity analysis has been carried out to see the robustness of optimum FOPID gains obtained at nominal conditions to wide changes in system parameters, and the optimum FOPID gains need not be reset for wide changes in system parameters.
基金
the National Natural Science Foundation of China(No.51109090)
the Natural Fund of Fujian Province(No.2015J01214)
the Key Project of Fujian Provincial Department of Science & Technology(No.2012H0030)
the University’s Innovative Project of Xiamen Science & Technology Bureau(No.3502Z20123019)
the Project of New Century Excellent Talents of Colleges and Universities of Fujian Province(No.JA12181)
关键词
比例积分微分控制器
参数优化
船舶航向
分数阶
算法
萤火虫
PID控制器
混合
firefly algorithm （FA）, fractional-order proportional-integral-derivative （FOPID）, ant colony optimization （ACO）, tracking control, ship steering
