DC Motor Control using Ant Colony Optimization

PID controller is a control loop feedback mechan'1sm widely used in industrial control
systems. The PID controller calculation involves three separate parameters,
proportional, integral and derivative values. Tuning of PID controller is done in order
to achieve the desired performance for the motor. Practically, it is difficult to
simultaneously achieve all the desirable qualities for the motor.
Generally, There are several conventional and numeric controller types intended for
controlling the DC motor as PID Controller, Fuzzy Logic Controller; PID-Particle
Swarm Optimization, Ant colony optimization . In this project, micro DC motor
manufactured by FAULHABER that's used for the application of a prosthetic leg is to
be controlled by the PID based Ant colony optimization (ACO) controller.
The first appearance of an ACO system was in a Ph.D. thesis in 1992 by Marco
Dorigo at Politecnico di Milano. It was called Ant System (AS). Since 1995 various
other extended versions of AS have been developed, induding Ant Colony System
(ACS) and MAX-MIN Ant System (MMAS). In 1999 Dorigo proposed the Ant Colony
Optimization (ACO) meta-heuristic that became the most successful and recognized
algorithm based on ant behaviour [1].
A controlled prosthetic leg is chosen to be the application for this project. It's
manufactured by the German company FAULHABER to help the disabled who lost a
limb perform their daily activities normally. The motor used in this prosthetic leg is
also manufactured by FAULHABER and it's a micro-motor to be light and reliable.