Title: Controller design for multivariable nonlinear control systems based on gradient-based ant colony optimisation

Authors: Mojtaba Eftekhari; Mahdi Eftekhari

Addresses: Department of Mechanical Engineering, Shahid Bahonar University of Kerman, 76169-14111, Kerman, Iran; Department of Computer Engineering, Shahid Bahonar University of Kerman, 76169-14111, Kerman, Iran ' Department of Mechanical Engineering, Shahid Bahonar University of Kerman, 76169-14111, Kerman, Iran; Department of Computer Engineering, Shahid Bahonar University of Kerman, 76169-14111, Kerman, Iran

Abstract: In the present study, a swarm intelligent algorithm called gradient-based continuous ant colony optimisation (GCACO) was utilised for controller design in multi-variable nonlinear control systems. The time domain objectives subject to the frequency domain constraints were considered in the proposed procedure. In order to be able to incorporate the time domain requirements in an overall controller design technique, the appropriate linearisation techniques utilised here was the exponential input describing function (EIDF). Experimental results obtained showed that GCACO technique developed here for controller design of nonlinear multivariable feedback control systems was capable to produce optimal and practical controllers that meet the design requirement in an efficient manner and computationally acceptable amount of time.

Keywords: multivariable control; nonlinear control; continuous ACO; ant colony optimisation; CACO; controller design.

DOI: 10.1504/IJMIC.2016.074295

International Journal of Modelling, Identification and Control, 2016 Vol.25 No.1, pp.38 - 47

Received: 03 Mar 2015
Accepted: 14 May 2015

Published online: 21 Jan 2016 *

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