Comparative Analysis of Evolutionary Computation Based Gain Scheduling Control for Ball and Plate Stabilization System

Abstract

The platform stabilization systems used in marine, airborne or land vehicle applications are controlled with very different control methods basically including linear, nonlinear and artificial intelligence-based design techniques. Nowadays, evolutionary computation based optimization algorithms also provide new opportunities to engineers in order to design a gain scheduling controller. In this study, an evolutionary computation based gain scheduling controller is proposed for a ball and plate system so as to examine its control performances on a stabilization system. For this purpose, the swarm intelligence based Particle Swarm Optimization (PSO) and evolutionary algorithm based Differential Evolution (DE) algorithms are chosen due to their better performance than the other evolutionary computation algorithms. The results are comparatively investigated by using time domain and frequency domain analysis methods. Additionally, the robustness analysis is also applied to examine the tuning performances of these controllers in case of changing system parameters in the range of ±50%.