A position-velocity cooperative intelligent controller based on the biological neuroendocrine system

Abstract

Based on multi-loop regulation mechanism of neuroendocrine system (NES), the present paper introduces a novel position-velocity cooperative intelligent controller (PVCIC), which improves the performance of controlled plant. Corresponding to NES, the PVCIC structure consists of four sub-units: Planning unit (PU) is the motion input unit of desired velocity and position signals. Coordination unit (CU) is the position-velocity coordination with a designed soft switching algorithm. Identification optimization control unit (IOCU), which is inspired from hormone regulation theory, is as the key control unit including a PID controller, a hormone identifier and a hormone optimizer. The hormone identifier and hormone optimizer identify control error and optimize PID controller parameters respectively. The execution unit (EU) is as executor which includes driver and plant. The promising simulation results indicate the PVCIC is practical and useful with the better performance compared with the conventional PID controller. © 2011 Springer-Verlag.