Adaptive Safe Experimentation Dynamics for Data-Driven Neuroendocrine-PID Control of MIMO Systems

Abstract

A safe experimentation dynamics (SED) is a game theoretic method that randomly perturbs several elements of its design parameter to search for the optimal design parameter. However, the accuracy of the standard SED can be further improved by proposing an adaptive SED method. This paper aims to develop a method based on adaptive safe experimentation dynamics (ASED) where the updated design parameter is modified to adapt to the change of the objective function. The proposed ASED is then used to tune the parameters of the neuroendocrine-PID controller. The neuroendocrine-PID controller, which is based on the secretion rule of hormone regulation in the human body and well known for its high control accuracy, is chosen to improve the conventional PID controller structure for the MIMO systems. Moreover, it is shown that the proposed neuroendocrine-PID based ASED can solve an unstable convergence problem in the existing neuroendocrine-PID based Simultaneous Perturbation Stochastic Approximation (SPSA). The performance of the proposed neuroendocrine-PID based on the ASED method is evaluated by tracking its performances and computational time. Additionally, the performance of the ASED based method is compared to the standard SED and SPSA based methods. The results of the simulation showed that the ASED method could provide stable convergence by minimizing the function of the given objective. The ASED also obtains a value for the objective function and the total norm error for tracking performance accuracy that is lower compared to other methods.

KEYWORDS:

• Nonlinear control systems
• Optimization methods
• MIMO
• Control design
• Intelligent control
• Control accuracy
• Performance evaluation

Additional information

Funding

This work was conducted with the support of Research Grant RDU1803137 by Universiti Malaysia Pahang under Research and Innovation Department.

Notes on contributors

Mohd Riduwan bin Ghazali

Mohd Riduwan Ghazali received B-Eng in electrical-mechatronics in August 2007 and M-Eng in mechatronics & automatic control at UTM Malaysia Mei in 2010. Currently, lecturer at Universiti Malaysia Pahang, Malaysia. His research interest in data-driven control, mechatronics system, robotics and control instrumentations. Corresponding author. Email: [email protected]

Mohd Ashraf bin Ahmad

Mohd Ashraf Ahmad received B-Eng in electrical-mechatronics in June 2006, MEng in (mechatronics & automatic control at UTM Malaysia in October 2007 and doctor of informatics systems science), Kyoto University, Japan, March 2015. Currently, senior lecturer at Universiti Malaysia Pahang, Malaysia. His research interest in model-free control, vibration control, control of mechatronics systems and identification of nonlinear systems. Email: [email protected]

Raja Mohd Taufika bin Raja Ismail

Raja Mohd Taufika Raja Ismail received B-Eng in electrical engineering, UTM Malaysia, 2004, MSc in mathematics, UTM Malaysia, 2006 and PhD in electrical engineering, University of Technology Sydney, Australia, 2015. Currently, senior lecturer at Universiti Malaysia Pahang, Malaysia. His research interest is in dynamics modeling and control, robust control and automation, robotics and automation in construction. Email: [email protected]