Affiliation:
1. Faculty of Electronics and Communications Engineering, Universidad Veracruzana, Poza Rica 93390, Mexico
2. Faculty of Engineering, Autonomous University of Querétaro, Querétaro 76010, Mexico
Abstract
The aero-pendulum is a non-linear system used broadly to develop and test new controller strategies. This paper presents a new methodology for an adaptive PID fuzzy-based tracking controller using a Hunting Search (HuS) algorithm. The HuS algorithm computes the parameters of the membership functions of the fuzzification stage. As a novelty, the algorithm guarantees the overlap of the membership functions to ensure that all the functions are interconnected, generating new hunters to search for better solutions in the overlapping area. For the defuzzification stage, the HuS algorithm sets the singletons in optimal positions to evaluate the controller response using the centroid method. To probe the robustness of the methodology, the PID fuzzy controller algorithm is implemented in an embedded system to track the angular position of an aero-pendulum test bench. The results show that the adaptive PID fuzzy controller proposed presents root mean square error values of 0.42, 0.40, and 0.49 for 80, 90, and 100 degrees, respectively.
Funder
Faculty of Electronic and Communications Engineering, Poza Rica, Ver., Mexico
Faculty of Engineering of the autonomous university of Queretaro (UAQ), Qro. Mexico
Regiduría VII of the H. Constitutional City Council of Poza Rica, Ver. in charge of Mtra. Lesli Vanneza Ortíz Huerta