Particle Swarm Optimizing Clonal Algorithm to Design an Intellegent PID Controller with Application to 3-2-1 Stewart Platform

An intelligent optimizing algorithm, particle swarm optimizing clonal algorithm (PSOCA) is introduced in this paper, which combines the clonal selection mechanism of the immune system with the evolution equation of particle swarm optimization. It has the ability of global searching. The PSOCA improves the diversity of antibody population and its convergence speed, by using effectively the past information of the antibodies and their cooperation. Based on the PSOCA, a PID controller (PSOCA-PI) is designed, which can modify its parameters dynamically to adapt time varying control objects. PSOCA-PID controller is exerted to control 3-2-1Stewart platform, then its control performance is compared with that of the other two controllers designed by PSO and clonal selection algorithm respectively. The simulation results show that PSOCA-PID has better control performance, compared with the other two controllers.