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On FOPID Controller Tuning of a Legless Capsubot Robot

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Advanced, Contemporary Control (PCC 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 709))

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Abstract

In this paper the imperialist competitive algorithm is used for searching optimal value of parameters of fractional-order PID (FOPID) regulator which is applied for control system of legless capsubot robot. The tuning was done via minimization of selected cost functions with the use of imperialist competitive algorithm (ICA). Obtained results from simulations are compared and discussed.

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Authors and Affiliations

  1. Department of Automatic Control and Robotics, Silesian University of Technology, Akademicka 16, Gliwice, Poland

    Artur Babiarz

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  1. Artur Babiarz
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Correspondence to Artur Babiarz .

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Editors and Affiliations

  1. Silesian University of Technology, Gliwice, Poland

    Marek Pawelczyk

  2. Silesian University of Technology, Gliwice, Poland

    Dariusz Bismor

  3. Silesian University of Technology, Gliwice, Poland

    Szymon Ogonowski

  4. Systems Research Institute, Polish Academy of Science, Warsaw, Poland

    Janusz Kacprzyk

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Babiarz, A. (2023). On FOPID Controller Tuning of a Legless Capsubot Robot. In: Pawelczyk, M., Bismor, D., Ogonowski, S., Kacprzyk, J. (eds) Advanced, Contemporary Control. PCC 2023. Lecture Notes in Networks and Systems, vol 709. Springer, Cham. https://doi.org/10.1007/978-3-031-35173-0_29

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