Publication:
Improved Genetic Algorithm Tuning Controller Design for Autonomous Hovercraft
Improved Genetic Algorithm Tuning Controller Design for Autonomous Hovercraft
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Date
2020
Authors
Huu Khoa Tran
Hoang Hai Son
Phan Van Duc
Tran Thanh Trang
Hoang-Nam Nguyen
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Research Projects
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Abstract
By mimicking the biological evolution process, genetic algorithm (GA) methodology has the advantages of creating and updating new elite parameters for optimization processes, especially in controller design technique. In this paper, a GA improvement that can speed up convergence and save operation time by neglecting chromosome decoding step is proposed to find the optimized fuzzy-proportional-integral-derivative (fuzzy-PID) control parameters. Due to minimizing tracking error of the controller design criterion, the fitness function integral of square error (ISE) was employed to utilize the advantages of the modified GA. The proposed method was then applied to a novel autonomous hovercraft motion model to display the superiority to the standard GA.
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Keywords
modified GA,
fuzzy-PID control,
autonomous hovercraft,
ISE criterion