skip to main content
US FlagAn official website of the United States government
dot gov icon
Official websites use .gov
A .gov website belongs to an official government organization in the United States.
https lock icon
Secure .gov websites use HTTPS
A lock ( lock ) or https:// means you've safely connected to the .gov website. Share sensitive information only on official, secure websites.

Explore Research Products in the PAR
It may take a few hours for recently added research products to appear in PAR search results.


Title: A Simple Dynamic Controller for Emulating Human Balance Control
This paper presents a biologically inspired control system developed for maintaining balance in a simulated human atop an oscillating platform. This work advances our previous research by adapting a human balance controller to an inverted pendulum and controlled by linear-Hill muscle models. To expedite neuron/synapse parameter value selection, we employ a novel two-stage process that pairs a previously developed analytic method with particle swarm optimization. Using the parameter values found analytically as inputs for particle swarm optimization (PSO), we take advantage of the benefits of each method while avoiding their pitfalls. Our results show that PSO optimization allowed improved balance control from modest (<10%) changes to the synaptic parameters. The improved performance was accompanied by muscle coactivations, however, and further refinement is needed to better align overall behavior of the neural controller with biological systems.  more » « less
Award ID(s):
2015317
PAR ID:
10517533
Author(s) / Creator(s):
;
Publisher / Repository:
Springer, Cham.
Date Published:
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
More Like this
  1. ; (, IEEE)
    Energy expenditure for quadrotor control has a likelihood of being costly given parameter-dependent controllers that are less than optimal. The cost can grow proportionally when applied to multiple quadrotors for tracking and collaborative navigation tasks. This research aims to establish a basic approach to tuning PID (Proportional-Integral-Derivative) parameters for a simulated quadrotor drone. A PID controller for autonomy provides a straightforward method for correcting robotic movement based on its current state. However, applying a PID system to a flight controller poses challenges with an inherently under-actuated system, which includes the likelihood of large overshoots and lengthy adjustment times. To address this, we utilize PSO (Particle Swarm Optimization) for optimizing PID parameters in a simulated quadrotor. The PSO is employed to find optimal PID values for thrust, yaw, and translational movement on x- and y-positions by identifying converging values across randomly created particles. We conducted a set of experiments and compared it to the default PID controller. The experiments demonstrate converging properties for particles that achieve minimal fitness scores, particularly in reducing overshoot. The results indicate that the optimized PID controller outperforms the default PID controller without optimization. Using optimized PID controllers can decrease the amount of positional error during flight and when adjusting position with collaborative navigation and collision avoidance algorithms. 
    more » « less
  2. ; (, Frontiers in Energy Research)
    null (Ed.)
    Artificial intelligence methods such as fuzzy logic and particle swarm optimization (PSO) have been applied to maximum power point tracking (MPPT) for solar panels. The P-V curve of a solar panel exhibits multiple peaks under partial shading condition (PSC) when all modules of a solar panel do not receive the same solar irradiation. Although conventional PSO has been shown to perform well under uniform insolation, it is often unable to find the global maximum power point under PSC. Fuzzy adaptive PSO controllers have been proposed for MPPT. However, the controller became computation-intensive in order to adjust the PSO parameters for each particle. In this paper, fuzzy adaptive PSO-based and conventional PSO-based MPPT are compared and evaluated in the aspect of design and performance. A simple fuzzy adaptive PSO controller for MPPT was designed to reach the global optimal point under PSC and uniform irradiation. The controller combines the advantages of both PSO and fuzzy control. The fuzzy controller dynamically adjusts the PSO parameter to improve the convergence speed and global search capability. Since tuning of the PSO parameter is designed to be common for all particles, it reduced the computation complexity. The fuzzy controller’s rule base is designed to obtain a fast transient response and stable steady state response. Design of the fuzzy adaptive PSO-based MPPT is verified with simulation results using a boost converter. The results are evaluated in comparison to the results using a conventional PSO controller under PSC. Simulation shows the fuzzy adaptive PSO-based MPPT is able to improve the global search process and increase the convergency speed. The comparison indicates the settling time using the fuzzy adaptive PSO-based MPPT is 14% faster under PSC on average and 30% faster under uniform irradiation than the settling time using the conventional PSO. Both the fuzzy adaptive and conventional PSO controllers have similar output power tracking accuracy. 
    more » « less
  3. ; (, SPIE Smart Structures + Nondestructive Evaluation)
    Zonta, Daniele; Su, Zhongqing; Glisic, Branko (Ed.)
    Civil infrastructures are susceptible to damage due to external forces such as winds and earthquakes. These external forces cause damage to buildings and different civil structures. To prevent this, active control systems are executed. These systems use sensors to measure the displacement of the infrastructure, then actuators are utilized to provide a force that counteracts that displacement. In this study, a Proportional Integral Derivative (PID) controller was used to minimize the impact of an earthquake disturbance on multi-story structures. The proportional, integral, and derivative gains of the controller were obtained using Particle Swarm Optimization (PSO). This PID controller was validated on a simulated five-story structure based on the Kajima Shizuoka building with five ideal actuators. The effectiveness of the PID controller in reducing the seismic response of the structure with regards to inter-story displacement and acceleration was compared to the uncontrolled response of the structure. It is found that the PID controller with PID parameters obtained from the PSO algorithm offers effective control for the simulated five story structure. 
    more » « less
  4. ; ; ; ; (, International Journal of Circuit Theory and Applications)
    Abstract This paper presents the genetic algorithm (GA) and particle swarm optimization (PSO) based frequency regulation for a wind‐based microgrid (MG) using reactive power balance loop. MG, operating from squirrel cage induction generator (SCIG), is employed for exporting the electrical power from wind turbines, and it needs reactive power which may be imported from the grid. Additional reactive power is also required from the grid for the load, directly coupled with such a distributed generator (DG) plant. However, guidelines issued by electric authorities encourage MGs to arrange their own reactive power because such reactive power procurement is defined as a local area problem for power system studies. Despite the higher cost of compensation, static synchronous compensator (STATCOM) is a fast‐acting FACTs device for attending to these reactive power mismatches. Reactive power control can be achieved by controlling reactive current through the STATCOM. This can be achieved with modification in current controller scheme of STATCOM. STATCOM current controller is designed with reactive power load balance for the proposed microgrid in this paper. Further, gain values of the PI controller, required in the STATCOM model, are selected first with classical methods. In this classical method, iterative procedures which are based on integral square error (ISE), integral absolute error (IAE), and integral square of time error (ISTE) criteria are developed using MATLAB programs. System performances are further investigated with GA and PSO based control techniques and their acceptability over classical methods is diagnosed. Results in terms of converter frequency deviation show how the frequency remains under the operating boundaries as allowed by IEEE standards 1159:1995 and 1250:2011 for integrating renewable‐based microgrid with grid. Real and reactive power management and load current total harmonic distortions verify the STATCOM performance in MG. The results are further validated with the help of recent papers in which frequency regulation is investigated for almost similar power system models. The compendium for this work is as following: (i) modelling of wind generator‐based microgrid using MATLAB simulink library, (ii) designing of STATCOM current controller with PI controller, (iii) gain constants estimation using classical, GA and PSO algorithm through a developed m codes and their interfacing with proposed simulink model, (v) dynamic frequency responses for proposed grid connected microgrid during starting and load perturbations, (vi) verification of system performance with the help of obtained real and reactive power management between STATCOM and grid, and (vii) validation of results with available literature. 
    more » « less
  5. (, Lecture notes in computer science)
    We discuss applicability of Principal Component Analysis and Particle Swarm Optimization in protein tertiary structure prediction. The proposed algorithm is based on establishing a low-dimensional space where the sampling (and optimization) is carried out via Particle Swarm Optimizer (PSO). The reduced space is found via Principal Component Analysis (PCA) performed for a set of previously found low- energy protein models. A high frequency term is added into this expansion by projecting the best decoy into the PCA basis set and calculating the residual model. Our results show that PSO improves the energy of the best decoy used in the PCA considering an adequate number of PCA terms. 
    more » « less
  • Citation Formats
  • MLA
  • APA
  • Chicago
  • BibTeX
  • Save / Share this Record
  • Send to Email