An Novel Optimal PID Tuning and On-Line Tuning Based on Artificial Bee Colony Algorithm

This paper is concerned with PID controller, which is an extremely important type of controller. However the optimal PID parameters is difficult to determined, their performance are highly sensitive to the initial guess of the solution. An artificial bee colony (ABC) algorithm approach is introduced in PID tuning and on-line tuning as a novel technique for optimum adaptive control in a non-Lyapunov way. The controller u(k), parameters k_P,k_i, k_d´s resolving is converted to a series of multi-modal nonnegative functions´ minimization, whose minimums can be optimally determined by ABC. The details of applying the proposed method are given and the experiments done show the proposed strategy is effective and robust.