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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Vydáno v:Fractal and fractional Ročník 9; číslo 10; s. 619
Hlavní autoři: Zhang, Huaqiang, Mohamad Nor, Norzalilah
Médium: Journal Article
Jazyk:angličtina
Vydáno: Basel MDPI AG 01.10.2025
Témata:
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
ISSN:2504-3110, 2504-3110
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Shrnutí: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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ISSN:2504-3110
2504-3110
DOI:10.3390/fractalfract9100619