On FOPID Controller Tuning of a Legless Capsubot Robot

Artur Babiarz

doi:10.1007/978-3-031-35173-0_29

On FOPID Controller Tuning of a Legless Capsubot Robot

Artur Babiarz

Department of Automatic Control and Robotics (RAU/RAU3)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	Advanced, Contemporary Control - Proceedings of the XXI Polish Control Conference, Volume 2
Editors	Marek Pawelczyk, Dariusz Bismor, Szymon Ogonowski, Janusz Kacprzyk
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	306-313
Number of pages	8
ISBN (Print)	9783031351723
DOIs	https://doi.org/10.1007/978-3-031-35173-0_29
Publication status	Published - 2023
Event	21st Polish Control Conference, PCC 2023 - Gliwice, Poland Duration: 26 Jun 2023 → 29 Jun 2023

Publication series

Name	Lecture Notes in Networks and Systems
Volume	709 LNNS
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	21st Polish Control Conference, PCC 2023
Country/Territory	Poland
City	Gliwice
Period	26/06/23 → 29/06/23

ASJC Scopus subject areas

Control and Systems Engineering
Signal Processing
Computer Networks and Communications

Access to Document

10.1007/978-3-031-35173-0_29

Cite this

Babiarz, A. (2023). On FOPID Controller Tuning of a Legless Capsubot Robot. In M. Pawelczyk, D. Bismor, S. Ogonowski, & J. Kacprzyk (Eds.), Advanced, Contemporary Control - Proceedings of the XXI Polish Control Conference, Volume 2 (pp. 306-313). (Lecture Notes in Networks and Systems; Vol. 709 LNNS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-35173-0_29

@inproceedings{a03db7fb8efe4e21b6cc390d970ed07e,

title = "On FOPID Controller Tuning of a Legless Capsubot Robot",

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.",

author = "Artur Babiarz",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 21st Polish Control Conference, PCC 2023 ; Conference date: 26-06-2023 Through 29-06-2023",

year = "2023",

doi = "10.1007/978-3-031-35173-0\_29",

language = "English",

isbn = "9783031351723",

series = "Lecture Notes in Networks and Systems",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "306--313",

editor = "Marek Pawelczyk and Dariusz Bismor and Szymon Ogonowski and Janusz Kacprzyk",

booktitle = "Advanced, Contemporary Control - Proceedings of the XXI Polish Control Conference, Volume 2",

address = "Germany",

}

Babiarz, A 2023, On FOPID Controller Tuning of a Legless Capsubot Robot. in M Pawelczyk, D Bismor, S Ogonowski & J Kacprzyk (eds), Advanced, Contemporary Control - Proceedings of the XXI Polish Control Conference, Volume 2. Lecture Notes in Networks and Systems, vol. 709 LNNS, Springer Science and Business Media Deutschland GmbH, pp. 306-313, 21st Polish Control Conference, PCC 2023, Gliwice, Poland, 26/06/23. https://doi.org/10.1007/978-3-031-35173-0_29

On FOPID Controller Tuning of a Legless Capsubot Robot. / Babiarz, Artur.
Advanced, Contemporary Control - Proceedings of the XXI Polish Control Conference, Volume 2. ed. / Marek Pawelczyk; Dariusz Bismor; Szymon Ogonowski; Janusz Kacprzyk. Springer Science and Business Media Deutschland GmbH, 2023. p. 306-313 (Lecture Notes in Networks and Systems; Vol. 709 LNNS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - On FOPID Controller Tuning of a Legless Capsubot Robot

AU - Babiarz, Artur

PY - 2023

Y1 - 2023

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/85164748866

U2 - 10.1007/978-3-031-35173-0_29

DO - 10.1007/978-3-031-35173-0_29

M3 - Conference contribution

AN - SCOPUS:85164748866

SN - 9783031351723

T3 - Lecture Notes in Networks and Systems

SP - 306

EP - 313

BT - Advanced, Contemporary Control - Proceedings of the XXI Polish Control Conference, Volume 2

A2 - Pawelczyk, Marek

A2 - Bismor, Dariusz

A2 - Ogonowski, Szymon

A2 - Kacprzyk, Janusz

PB - Springer Science and Business Media Deutschland GmbH

T2 - 21st Polish Control Conference, PCC 2023

Y2 - 26 June 2023 through 29 June 2023

ER -