Intelligent proportional-integral-derivative control techniques for accelerator leg of robot driver

Abstract

The paper describes the application of the Accelerator Leg of Robot Driver (ALRD) which is applied to automotive tests to save time and cost and improve the accuracy of the tests. The accelerator leg of the robot driver is controlled by Proportional-Integral-Derivative (PID) controller technique. PID Control parameters are optimized using proposed Meta-heuristic Techniques such as Artificial Bee Colony (ABC) and Firefly Algorithm (FF) which overcome the limitations of conventional PID controllers. These ABC-PID and FF-PID are employed for automotive tests to obtain coordinated control of the driving test cycle and accurate speed tracking during all types of conditions. Simulation results are then presented to demonstrate improved performance of FF-PID in tracking accuracy compared to the ABC-PID and conventional technique namely Linear-Quadratic-Gaussian (LQG).