Robust PID Tuning of Autonomous Underwater Vehicle Using Harmonic Search Algorithm Based on Model Order ReductionAnkush Rathore* and Mahendra Kumar
Department of Electronics University College of Engineering, RTU Kota, Rajasthan, India
- Corresponding Author:
- Ankush Rathore
Department of Electronics University College of Engineering
RTU Kota, Rajasthan, India
E-mail: [email protected] gmail.com
Received date: October 29, 2015; Accepted date: December 08, 2015; Published date: December 14, 2015
Citation: Rathore A, Kumar M (2015) Robust PID Tuning of Autonomous Underwater Vehicle Using Harmonic Search Algorithm Based on Model Order Reduction. Int J Swarm Intel Evol Comput 4:127. doi:10.4172/2090-4908.1000127
Copyright: © 2015 Rathore A, et al. This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
The objective of this paper is to present Genetic Algorithm (GA) and Harmonic Search Algorithm (HSA) based on PID tuning and Model Order Reduction with Balance Truncation (MORBT). This method is used for constructing a second order balanced truncation model order reduction for symmetric linear time invariant third order control systems. These methods are closely related to the proper and improper controllability and observability Gramians and Hankel singular values of descriptor systems. The HS (Harmonic Search) algorithm mimics behaviours of music players in an improvisation process, in order to find a better state of harmony which can be translated into a solution vector in the optimization process. PID (proportional-integral-derivative) controller provides sufficient stability margins and good time responses. It is now possible to design an optimal PID controller with properties of a GA and HSA. In control strategies, like PID controller are successfully designed to control the autonomous underwater vehicle. The elementary focus is to simulate the controller response.