Data-Driven Neuroendocrine-PID Controller Design for Twin Rotor MIMO System

Abstract

This paper presents the design of a data-driven neuroendocrine-PID controller based on adaptive safe experimentation dynamics (ASED) method for a twin-rotor MIMO system (TRMS). Neuroendocrine-PID is deemed a compatible controller, often due to its biological-inspired mechanism from a human's endocrine system that promotes control effectiveness and accuracy. In assessing the robustness of the proposed controller, its parameters were optimized through the ASED method, by tracking both error and input control performances. In particular, the ASED method is a game-theoretic method that randomly perturbs several elements of its controller parameters to search for the optimal controller parameters. Comparison was further made alongside performance of a standard PID controller. Following the simulation conducted, findings with regards to total norm error and total norm input have hereby suggested neuroendocrine-PID as a better controller, following a 13.2% improvement in control accuracy to that of a standard PID controller for TRMS system.