Fractional-Order PID Control of Two-Wheeled Self-Balancing Robots via Multi-Strategy Beluga Whale Optimization
In recent years, fractional-order controllers have garnered increasing attention due to their enhanced flexibility and superior dynamic performance in control system design. Among them, the fractional-order Proportional–Integral–Derivative (FOPID) controller offers two additional tunable parameters,...
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| Vydané v: | Fractal and fractional Ročník 9; číslo 10; s. 619 |
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| Médium: | Journal Article |
| Jazyk: | English |
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01.10.2025
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| Abstract | In recent years, fractional-order controllers have garnered increasing attention due to their enhanced flexibility and superior dynamic performance in control system design. Among them, the fractional-order Proportional–Integral–Derivative (FOPID) controller offers two additional tunable parameters, λ and μ, expanding the design space and allowing for finer performance tuning. However, the increased parameter dimensionality poses significant challenges for optimisation. To address this, the present study investigates the application of FOPID controllers to a two-wheeled self-balancing robot (TWSBR), with controller parameters optimised using intelligent algorithms. A novel Multi-Strategy Improved Beluga Whale Optimization (MSBWO) algorithm is proposed, integrating chaotic mapping, elite pooling, adaptive Lévy flight, and a golden sine search mechanism to enhance global convergence and local search capability. Comparative experiments are conducted using several widely known algorithms to evaluate performance. Results demonstrate that the FOPID controller optimised via the proposed MSBWO algorithm significantly outperforms both traditional PID and FOPID controllers tuned by other optimisation strategies, achieving faster convergence, reduced overshoot, and improved stability. |
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| AbstractList | In recent years, fractional-order controllers have garnered increasing attention due to their enhanced flexibility and superior dynamic performance in control system design. Among them, the fractional-order Proportional–Integral–Derivative (FOPID) controller offers two additional tunable parameters, λ and μ, expanding the design space and allowing for finer performance tuning. However, the increased parameter dimensionality poses significant challenges for optimisation. To address this, the present study investigates the application of FOPID controllers to a two-wheeled self-balancing robot (TWSBR), with controller parameters optimised using intelligent algorithms. A novel Multi-Strategy Improved Beluga Whale Optimization (MSBWO) algorithm is proposed, integrating chaotic mapping, elite pooling, adaptive Lévy flight, and a golden sine search mechanism to enhance global convergence and local search capability. Comparative experiments are conducted using several widely known algorithms to evaluate performance. Results demonstrate that the FOPID controller optimised via the proposed MSBWO algorithm significantly outperforms both traditional PID and FOPID controllers tuned by other optimisation strategies, achieving faster convergence, reduced overshoot, and improved stability. |
| Audience | Academic |
| Author | Zhang, Huaqiang Mohamad Nor, Norzalilah |
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| SubjectTerms | Adaptability Algorithms Balancing Beluga Whale Optimization Cetacea Control systems design Controllers Convergence Design Exploitation fractional calculus fractional-order PID Genetic algorithms intelligent optimization nonlinear control Optimization Parameters Performance evaluation Proportional integral derivative Robot control Robotics Robotics industry Robots Simulation two-wheeled self-balancing robot Underwater exploration Whales & whaling |
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