Design of proportional integral and derivative controller using particle swarm optimization technique for gimbal system

Abstract

<span>This paper presents the development of an optimal <a name="_Hlk98139022"></a>proportional, integral and derivative (PID) controller for controlling camera gimbal on unmanned aerial systems (UAV). Three optimal controller improvements are obtained using the suggested <a name="_Hlk98139050"></a>particle swarm optimization (PSO) technique. The PSO algorithm is initially built and integrated with the PID controller to control the DC motor gimbal. Before comparing the performance of a DC motor with PSO-PID with a DC motor with Zeigler-Nichols controller, the impacts of iteration numbers are explored. Finally, bode analysis was conducted to validate the stability of the proposed PSO-PID controller. Simulation is conducted within the MATLAB environment to verify the system's performance in terms of settling time, steady-state error and overshoot. The simulation results show has a longer settling time (0.91656 sec) than the Ziegler-Nichols controller (0.14316 sec) but a shorter rising time (0.091686 sec) than the Ziegler-Nichols controller (0.00094 sec). Furthermore, the overshoot was lowered from 12.941% to 0.959% as a result. As a result, the suggested PSO-PID controller technique outperforms the Ziegler-Nichols controller in terms of overshoot and rise time. Further study will investigate the integration of other optimisation methodologies such as fuzzy logic for better performance.</span>