This paper presents a comparative analysis of continuously stirred tank reactor (CSTR) control based on adaptive control and optimal tuning of PID control based on particle swarm optimization. In the design of adaptive control, Model reference adaptive control (MRAC) scheme is used, in which the adaptation law have been developed by MIT rule & Lyapunov’s rule. In PSO control parameters of PID c...

A swarm is a ‘‘complex adaptive system’’, which is decentralized and self-organized and whose individuals are simple, homogeneous and autonomous. Swarm intelligence is defined to describe its emergent behaviors. Both wireless sensor networks and mobile multi-robots demonstrate swarm features. This paper first discusses the challenges of combining wireless sensor networks and mobile multi-robots...

this paper, presents a suitable control system to manage energy in distributed power generation system with a battery energy storage station and fuel cell. first, proper dynamic shape modeling is prepared. second, control system is proposed which is based on classic controller. this model is educated with genetic algorithm and particle swarm optimization. the proposed strategy is compared with ...

This paper proposes the Fictitious Reference Iterative Tuning-Particle Swarm Optimization (PSO-FRIT) method to design PID controllers for control systems. The proposed method is an offline PID parameter tuning method and it is not necessary to derive any mathematical models of objected control systems. The proposed method is demonstrated by comparing with the FRIT method in numerical examples. ...

This article presents a method for controlling a swarm of quadrotor micro aerial vehicles to perform agile interleaved maneuvers while holding a fixed relative formation, and transitioning between different formations. We propose an abstraction, called a Virtual Rigid Body, which allows us to decouple the trajectory of the whole swarm from the trajectories of the individual quadrotors within th...

In this paper a general Morse potential model of self-propelling particles is considered in the presence of a time-delayed term and a spring potential. It is shown that the emergent swarm behavior is dependent on the delay term and weights of the time-delayed function, which can be set to induce a stationary swarm, a rotating swarm with uniform translation, and a rotating swarm with a stationar...

This paper describes a novel control scheme termed ‘equilibrium shaping’ for the control of a swarm of spacecraft in both flat and curved space. This control scheme allows the intelligent and autonomous control of an arbitrary number of elements, suitable for example to self-assembly or formation flying applications. The control scheme employs three basis behaviours that are summed together to ...

One of the benefits of using Combs disjunctive control in swarm intelligence is the ability of the swarm to continue to operate even when one or more of its sensors are broken. Instead of failing, the swarm continues to perform based on the inputs of the remaining sensors. In this project, a multi-objective scenario is designed for a swarm of agents to complete. Once optimized, the swarm is the...

In this paper, we study coordinated motion in a swarm robotic system, called a swarm-bot. A swarm-bot is a self-assembling and self-organizing artifact, composed of a swarm of s-bots, mobile robots with the ability to connect to and disconnect from each other. The swarm-bot concept is particularly suited for tasks that require abilities of navigation on rough terrain, such as space exploration ...